Registration and Integration of Automobile-Bodies Scattered Point Cloud Based on K-D Tree

Yu Zhou; Wan Bing Zhang; Fa Rong Du

doi:10.4028/www.scientific.net/AMR.201-203.846

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 201-203Registration and Integration of Automobile-Bodies...

Registration and Integration of Automobile-Bodies Scattered Point Cloud Based on K-D Tree

Abstract:

As the automobile-bodies point cloud had the traits of large geometric dimension, huge data and rigor reverse precision, the improved iterative closet point algorithm (ICP) is put forward. The searching structure is generated using k-D tree. The closet points are searched by k-Dimensional sphere. The mapped relationship between points is generated. The matched points are filtered by the principle of geometric similarity. The solving of ICP algorithm is speeded and the registration precision of ICP algorithm is improved. The registration algorithm based on least-square and quaternion is used to calculate accurate registration result. The algorithm has certain theoretical and practical significance for improving of the efficiency and precision of registration. The reliability and accuracy of the algorithm are proved by experimentation.

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Advanced Manufacturing Systems, ICMSE 2011

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Periodical:

Advanced Materials Research (Volumes 201-203)

Pages:

846-851

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.201-203.846

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Online since:

February 2011

Authors:

Yu Zhou, Wan Bing Zhang, Fa Rong Du

Keywords:

Congruence Triangle, ICP Algorithm, K-D Tree, Point Cloud Registration and Integration

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