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

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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

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