Automatic Registration Method Based on Curvature

Abstract

Abstract: Due to the acquisition range constriction of three-dimensional, a scanner could only obtain a single perspective of the deep image achieving the 3-D modeling from researching the registration of deep image. Currently, most of the existing commercial software requires manual label to achieve the registration of deep image. In order to improve this problem, an automatic registration method based on the constriction of curvature was proposed. At the beginning of registration, the method 4-Points Congruent Sets for Robust Surface Registration (4PCS) was used to achieve the initial and automatic registration. In the phase of accurate registration, ICP and linear least-square optimization method was used to get 3-D model's Rigid transformation matrix. In order to eliminate the iterative process of mismatch problem, the curvature as a constraint was taken to improve the accuracy of point cloud registration. Experiment indicates that after the removal of false match points according to the constraint of curvature, the registration accuracy of the model is increased and perfect.

Key words: ICP, cloud registration, curvature, point-to-plane ICP, point-to-point ICP

CLC Number:

TP391.9

Yu Wenli, Zhou Mingquan, Shui Wuyang, Wu Zhongke. Automatic Registration Method Based on Curvature[J]. Journal of System Simulation, 2015, 27(10): 2374-2379.

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