残差迭代的异常同名点拉近算法
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摘要
在六参数模型的基础上,提出残差迭代的异常同名点拉近算法,即对异常同名点进行误差分解,通过将配准残差不断传递给异常同名点,改变参考坐标系下的异常同名点坐标,不断拉近参考同名点与目标同名点,最终使两个坐标系下同名点的距离差满足配准精度要求,从而实现异常同名点残差弱化的过程。通过对多站同名点扫描获得的数据,验证了该方法的可行性。
We present conjugate closer registration algorithm based on the residuals iterative for the shortcoming of obtain higher registration accurate under the condition of fine scan to few conjugates. The error decomposition of the conjugates by coarse scanning based on the six-parameter model. The target same points are closed to reference conjugates through transfer registration error to the same point by coarse scan. The conjugates of the two coordinate achieve the degree of overlap,and at last realize the process of fine scanning for coarse scanning. The feasibility of the method is verified according to the conjugates' data which is obtained by fine scanning and coarse scanning to multiple stations.
We present conjugate closer registration algorithm based on the residuals iterative for the shortcoming of obtain higher registration accurate under the condition of fine scan to few conjugates. The error decomposition of the conjugates by coarse scanning based on the six-parameter model. The target same points are closed to reference conjugates through transfer registration error to the same point by coarse scan. The conjugates of the two coordinate achieve the degree of overlap,and at last realize the process of fine scanning for coarse scanning. The feasibility of the method is verified according to the conjugates' data which is obtained by fine scanning and coarse scanning to multiple stations.
引文
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8 程效军,等.点云配准误差传播规律的研究[J].同济大学学报(自然科学版),2009,37(12):1 668-1 672.(Cheng Xiaojun,et al.Research on Point Cloud Registration Error Propagation.Journal of TongJi University(Natural Science).2009,37(12):1 668-1 672)
9 徐源强,等.地面三维激光扫描的点云配准误差研究[J].大地测量与地球动力学,2011,(2):129-131.(Xu Yuanqiang,et al.Research on Point Cloud Registration Error of Terrestrial Laser Scanning.Journal of Geodesy and Geodynamics.2011,(2):129-131)
2 朱凌.地面三维激光扫描标靶研究[J].激光杂志,2008,29 :33-35.(Zhu Ling.Research on the target in TLS.Laser Journal,2008,29:33-35)
3 苏晓蓓,郝刚.地面三维激光扫描标靶中心识别算法研究[J].城市勘测,2010,3:68-70.(Su Xiaobei and Hao Gang.Research of the target center identifying method about terrestrial 3D laser scanning.Urban Geotechnical Investigation&Surveying.2010,3:68-70)
4 官云兰,等.一种稳健的地面激光扫描标靶球定位方法[J].工程勘察,2008,10:42-45.(Guan Yunlan.A Solid Method about Ground Laser Scanning Target Positioning.Engineering survey.2008,10:42-45)
5 官云兰,等.基于整体最小二乘的稳健点云数据平面拟合[J].大地测量与地球动力学,2011,(5):80-83.(Guan Yunlan,et al.Robust Plane Fitting of Point Clouds Based on TLS.Journal of Geodesy and Geodynamics.2011,(5):80-83)
6 鲁铁定,等.基于整体最小二乘的地面激光扫描标靶球定位方法[J].大地测量与地球动力学,2009,(4):102-105 .(Lu Tieding.Sphere Target Fixing of Point Cloud Data Based on TLS.Journal of Geodesy and Geodynamics.2009,(4):102-105)
7 Besl P J and Mackay N D.A method for registration of 32d shapes[J].IEEE Transactions on Pattern Analysis and machine Intelligence,1992,14(2):239.
8 程效军,等.点云配准误差传播规律的研究[J].同济大学学报(自然科学版),2009,37(12):1 668-1 672.(Cheng Xiaojun,et al.Research on Point Cloud Registration Error Propagation.Journal of TongJi University(Natural Science).2009,37(12):1 668-1 672)
9 徐源强,等.地面三维激光扫描的点云配准误差研究[J].大地测量与地球动力学,2011,(2):129-131.(Xu Yuanqiang,et al.Research on Point Cloud Registration Error of Terrestrial Laser Scanning.Journal of Geodesy and Geodynamics.2011,(2):129-131)