python点云快速配准_点云配准 Registration

最新推荐文章于 2025-06-09 09:06:20 发布

weixin_39539764

最新推荐文章于 2025-06-09 09:06:20 发布

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文章标签： python点云快速配准

本文链接：https://blog.csdn.net/weixin_39539764/article/details/111804479

本文详细介绍了PCL(Point Cloud Library)中多种迭代最近点(ICP)算法变体及其应用过程，包括如何通过特征匹配和变换估计实现点云配准。

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PCL里有很多ICP可以用

is an ICP variant that implements the generalized iterative closest point algorithm as described by Alex Segal et al.

provides a base implementation of the Iterative Closest Point algorithm.

is a special case of

IterativeClosestPoint, that uses a transformation estimated based on Point to Plane distances by default.

is an ICP variant that uses Levenberg-Marquardt optimization backend.

This class provides a way to register a stream of clouds where each cloud will be aligned to the previous cloud.

The computational steps for two datasets are straightforward:

from a set of points, identify interest points (i.e., keypoints) that best represent the scene in both datasets;

at each keypoint, compute a feature descriptor;

from the set of feature descriptors together with their XYZ positions in the two datasets, estimate a set of correspondences, based on the similarities between features and positions;

given that the data is assumed to be noisy, not all correspondences are valid, so reject those bad correspondences that contribute negatively to the registration process;

from the remaining set of good correspondences, estimate a motion transformation.