标题：An Optimization Algorithm for Initial Registration of Point Clouds
作者：Shen, Jianghua ;Sun, Dianzhu ;Li, Yanrui ;Liang, Zengkai
作者机构：[Shen, Jianghua ;Sun, Dianzhu ;Liang, Zengkai ] College of Mechanical Engineering, Shandong University of Technology, Zibo; Shandong; 255049, China;[L 更多
来源：Hsi-An Chiao Tung Ta Hsueh/Journal of Xi'an Jiaotong University
摘要：An initial registration algorithm of point clouds based on structure from motion of feature points of sequence images is proposed to solve the problem that the registration algorithms of point clouds based on corresponding points matching are difficult to adapt point clouds with large difference in initial position and their registration efficiency is low. Following the principle of perspective projection the position of a camera in the local coordinate system of a point cloud is located, and a transformation matrix that transforms the point cloud to the corresponding camera coordinate system is obtained. Then, feature points of images and their corresponding matching points are served as homonymy points, and the camera pose is globally optimized by reconstructing an image sequence. Experimental results show that the initial registration method has no strict requirements for initial position of point clouds, and obtains an approximate globally optimal initial registration for point clouds with small computational cost. When these initial registration parameters are used as initial values of an iterative closest point algorithm, the robustness of the point cloud registration is effectively improved and the computation efficiency of the iterative closest point algorithm is raised by more than 30%.
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