›› 2016, Vol. 36 ›› Issue (5): 32-.doi: 10.16708/j.cnki.1000-758X.2016.0055

• 研究探讨 • 上一篇    下一篇

空间非合作目标的多视角点云配准算法研究

郭瑞科, 王立, 朱飞虎, 吴云   

  1. 北京控制工程研究所,北京100190
  • 收稿日期:2016-03-28 修回日期:2016-05-20 出版日期:2016-10-25 发布日期:2016-08-22

Researchonregistrationalgorithmofmultipleviewpointcloudfornoncooperativespacecraft

GUO  Rui-Ke, WANG  Li, ZHU  Fei-Hu, WU  Yun   

  1. BeijingInstituteofControlEngineering,Beijing100190,China
  • Received:2016-03-28 Revised:2016-05-20 Online:2016-10-25 Published:2016-08-22

摘要: 为了提高相邻视角间稀疏扫描点云数据配准的速度和精度,实现多视角点云精确配准,提出一种基于KDTree点云均匀采样简化算法,并且对传统四点算法(4PointsCongruentSetsAlgorithm,4PCS)中的阈值参数进行了统一,确定了各误差阈值参数和点云密度之间的关系,通过基于姿态校正的方法有效解决了对称视角点云引起的误配准问题。仿真结果表明,该方法能够快速、有效地实现卫星稀疏点云的配准。

关键词: 非合作目标, 多视角, 点云数据, 配准, 四点算法

Abstract: Thepointclouddataregistrationisoneofthekeytechnicalaspectsofthreedimensionalreconstructionfornoncooperativespacecraft.Tosolvethepairwiseregistrationissueofsparsepointcloud,andalignthemultipleviewpointcloudaccurately,anoptimizationregistrationmethodwaspresented.AnovelpointcloudsimplificationalgorithmusinguniformsamplingwasproposedbasedonKDTreeandtheuniformrelationofthethresholdparametersinthe4PCS(4PointsCongruentSets)algorithmwasestablishedviathedensityofthepointcloud.Byusingthemisregistrationcorrectionmethodbasedonattitude,themisregistrationproblemofthesymmetrypointcloudwassolved.Theresultsshowthattheproposedalgorithmcaneffectivelyachievegoodalignmentsofthesparsepointcloudofthesatellite,besides,thestabilityandthesuccessrateofthealgorithmisalsoimproved.

Key words: noncooperativespacecraft, multipleview, pointclouddata, registration, 4pointscongruentsets