多视角三维激光点云全局优化整体配准算法
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摘要
提出一种已知多视激光点云配准初值进行自动全局优化的整体配准算法,并详细推导了多视激光点云配准全局优化平差模型。本算法对多视角三维激光点云的扫描顺序不作要求,可以处理无序散乱的多视三维激光扫描点云,同时可以获得最小二乘意义下的最优变换参数,实现多视三维激光点云的自动精确配准。利用实际三维激光扫描点云数据进行试验,得到了预期的结果,验证了本文方法的可行性和有效性。
A global optimization and whole registration algorithm of multi-view 3Dlaser point cloud is presented.Detailed derivation of global optimization adjustment model of multi-view laser point cloud is showed in this paper.This algorithm can handle disordered and scattered multi-view 3Dlaser point cloud,at the same time optimal transformation parameters can be obtained.Practical 3Dlaser point cloud data are exemplified for the feasibility and effectiveness of proposed methods.
A global optimization and whole registration algorithm of multi-view 3Dlaser point cloud is presented.Detailed derivation of global optimization adjustment model of multi-view laser point cloud is showed in this paper.This algorithm can handle disordered and scattered multi-view 3Dlaser point cloud,at the same time optimal transformation parameters can be obtained.Practical 3Dlaser point cloud data are exemplified for the feasibility and effectiveness of proposed methods.
引文
[1]ZHENG Li.3D Measurement of Irregular Sheetmetal Parts Based on Structured Light[D].Wuhan:Wuhan University,2007.(郑莉.基于结构光的不规则钣金件三维量测[D].武汉:武汉大学,2007.)
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[19]YAO Jili,JIA Xiangyang,MA Ning,et al.Overall Orientation Adjustment Model of Terrestrial Laser Scanning Multistation Point Clouds[J].Acta Geodaetica et Cartographica Sinica,2014,43(8):835-841.(姚吉利,贾象阳,马宁,等.地面激光扫描多站点云整体定向平差模型[J].测绘学报,2014,43(8):835-841.)
[20]LIU Jun,GENG Guohua.Sequence Iterative 3DRegistration of Multi-view Point Cloud for Archaeological Site[J].Application Research of Computers,2011,28(10):3970-3973.(刘军,耿国华.古遗址多视点云的渐进式三维配准[J].计算机应用研究,2011,28(10):3970-3973.)
[21]MOUNT D M,ARYA S.ANN:A Library for Approximate Nearest Neighbor Searching[EB/OL].2010[2013-07-25].http:∥www.cs.u.md.edu/~mount/ANN/.
[22]ZHANG Jianqing,PAN Li,WANG Shugen.Photogrammetry[M].Wuhan:Wuhan University Press,2009:28-29.(张剑清,潘励,王树根.摄影测量学[M].武汉:武汉大学出版社,2009:28-29.)
[23]SEITZ S M,CURLESS B,DIEBEL J,et al.A Comparison and Evaluation of Multi-view Stereo Reconstruction Algorithms[C]∥Proceedings of International Conference on 3D Digital Imaging and Modeling.Banff:IEEE Computer Society,2003:260-267.
[2]ZHAI Ruifang,ZHANG Jianqing.Automatic Registration of Point Clouds Based on Laser Scanner[J].Geospatial Information,2004,2(6):37-39.(翟瑞芳,张剑清.基于激光扫描仪的点云模型的自动拼接[J].地理空间信息,2004,2(6):37-39.)
[3]LISK A C,SABLATNING R.Adaptive 3D Acquisition Using Laser Light[C]∥Proceedings of Czech Pattern Recognition Workshop.Praha:[s.n.],2000:111-116.
[4]BESL P J,MCKAY N D.A Method for Registration of3DShapes[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,1992,14(2):239-239.
[5]NATASHA G,LESLIE I,RZYMON R,et al.Geometrically Stable Sampling for the ICP Algorithm[C]∥Proceedings of International Conference on 3DDigital Imaging and Modeling.Banff:[s.n.],2003:260-267.
[6]ZHENG Dehua,YUE Dongjie,YUE Jianping.Geometric Feature Constraint Based Algorithm for Building Scanning Point Cloud Registration[J].Acta Geodaetica et Cartographica Sinica,2008,37(4):465-468.(郑德华,岳东杰,岳建平.基于几何特征约束的建筑物点云配准算法[J].测绘学报,2008,37(4):465-468.)
[7]CHEN Y,MEDIONI G.Object Modeling by Registration of Multiple Range Images[J].Image and Vision Computing,1992,10:145-155.
[8]BERGEVIN R,SOUCY M,GAGNON H,et al.Towards a General Multi-view Registration Technique[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,1996,18(5):540-547.
[9]RUSINKIEWICZ S,LEVOY M.Efficient Variants of the ICP Algorithm[C]∥Proceedings of Third International Conference on 3-D Digital Imaging and Modeling.Piscataway:IEEE.2001:145-152.
[10]PARK S Y,SUBBARAO M.An Accurate and Fast Point-to-plane Registration Technique[J].Pattern Recognition Letters,2003,24:2967-2976.
[11]ZOU Jixiang.The Research of Point Cloud Data Registration Technique Based on KD-tree Acceleration[D].Hefei:Anhui University,2013.(邹际祥.基于KD-tree加速的点云数据配准技术研究[D].合肥:安徽大学,2013.)
[12]JOHNSON A E,KANG S B.Registration and Integration of Textured 3D Data[J].Image and Vision Computing,1999,17:135-147.
[13]LU Yinbei,ZHANG Lei,PU Jiexin,et al.Curvaturebased Registration Algorithm of Point Clouds Data[J].Computer Applications,2007,27(11):2766-2768.(路银北,张蕾,普杰信,等.基于曲率的点云数据配准算法[J].计算机应用,2007,27(11):2766-2768.)
[14]QIAN Pengpeng,ZHENG Dehua.A New Automatic Registration Method of Scanning Point Cloud[J].Journal of Water Resources and Architectural Engineering,2013,11(3):162-165.(钱鹏鹏,郑德华.一种新的扫描点云自动配准方法[J].水利与建筑工程学报,2013,11(3):162-165.)
[15]DAI Jinglan,CHEN Zhiyang,YE Xiuzi.The Application of ICP Algorithm in Point Cloud Alignment[J].Journal of Image and Graphics,2007,12(3):517-521.(戴静兰,陈志杨,叶修梓.ICP算法在点云配准中的应用[J].中国图象图形学报,2007,12(3):517-521.)
[16]ZHANG Jianqing,ZHAI Ruifang,ZHENG Shunyi.Automatic Seamless Registration of 3D Multiple Range Views[J].Geomatics and Information Science of Wuhan University,2007,32(2):100-103.(张剑清,翟瑞芳,郑顺义.激光扫描多三维视图的全自动无缝镶嵌[J].武汉大学学报:信息科学版,2007,32(2):100-103.)
[17]ZHOU Langming,ZHENG Shunyi,HUANG Rongyong.A Registration Algorithm for Point Clouds Obtained by Scanning Objects on Turntable[J].Acta Geodaetica et Cartographica Sinica,2013,42(1):73-79.(周朗明,郑顺义,黄荣永.旋转平台点云数据的配准方法[J].测绘学报,2013,42(1):73-79.)
[18]YAO Jili,MA Ning,JIA Xiangyang,et al.Auto-registration for Terrestrial Laser Scanning Multi-stations Point Clouds with Bundle Block Adjustment Methods[J].Acta Geodaetica et Cartographica Sinica,2014,43(7):711-716.(姚吉利,马宁,贾象阳,等.光束法区域网平差的地面激光扫描多站点云自动定向方法[J].测绘学报,2014,43(7):711-716.)
[19]YAO Jili,JIA Xiangyang,MA Ning,et al.Overall Orientation Adjustment Model of Terrestrial Laser Scanning Multistation Point Clouds[J].Acta Geodaetica et Cartographica Sinica,2014,43(8):835-841.(姚吉利,贾象阳,马宁,等.地面激光扫描多站点云整体定向平差模型[J].测绘学报,2014,43(8):835-841.)
[20]LIU Jun,GENG Guohua.Sequence Iterative 3DRegistration of Multi-view Point Cloud for Archaeological Site[J].Application Research of Computers,2011,28(10):3970-3973.(刘军,耿国华.古遗址多视点云的渐进式三维配准[J].计算机应用研究,2011,28(10):3970-3973.)
[21]MOUNT D M,ARYA S.ANN:A Library for Approximate Nearest Neighbor Searching[EB/OL].2010[2013-07-25].http:∥www.cs.u.md.edu/~mount/ANN/.
[22]ZHANG Jianqing,PAN Li,WANG Shugen.Photogrammetry[M].Wuhan:Wuhan University Press,2009:28-29.(张剑清,潘励,王树根.摄影测量学[M].武汉:武汉大学出版社,2009:28-29.)
[23]SEITZ S M,CURLESS B,DIEBEL J,et al.A Comparison and Evaluation of Multi-view Stereo Reconstruction Algorithms[C]∥Proceedings of International Conference on 3D Digital Imaging and Modeling.Banff:IEEE Computer Society,2003:260-267.