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《Hydrographic Surveying and Charting》 2015-02
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Improved ICP Algorithm for Point Cloud Registration

ZHU Xinyu;WAN Jianhua;LIU Shanw ei;ZENG Zhe;School of Geosciences,China University of Petroleum;  
The registration of 3D laser point cloud is one of the key problems in 3D modeling. According to the classical ICP algorithm,the paper proposes an improved ICP algorithm for point cloud registration. First of all,the initial registration in this paper uses principal component analysis method to obtain a better initial position of the point cloud. Then two point clouds are registered by k-d tree search and angle between the direction vectors of two the point clouds based on traditional ICP algorithm. The accuracy of the improved process of algorithm will not be affected to improve the efficiency. The algorithm is verified in the applications.
【CateGory Index】: TP391.41
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【Citations】
Chinese Journal Full-text Database 6 Hits
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