论文标题
基于一致性评估参数空间中刚性变换的一致性评估
Point Cloud Registration Based on Consistency Evaluation of Rigid Transformation in Parameter Space
论文作者
论文摘要
我们可以使用称为注册的方法来整合代表现实世界形状的点云。在本文中，我们提出了高度准确稳定的注册方法。我们的方法检测到点云的关键点，并使用多个描述符生成三重态。此外，我们的方法通过直方图评估了每个三重态的刚性变换参数的一致性，并获得了点云之间的刚性变换。在本文的实验中，我们的方法有最小的错误，没有重大故障。结果，与比较方法相比，我们获得了足够准确稳定的注册结果。
We can use a method called registration to integrate some point clouds that represent the shape of the real world. In this paper, we propose highly accurate and stable registration method. Our method detects keypoints from point clouds and generates triplets using multiple descriptors. Furthermore, our method evaluates the consistency of rigid transformation parameters of each triplet with histograms and obtains the rigid transformation between the point clouds. In the experiment of this paper, our method had minimul errors and no major failures. As a result, we obtained sufficiently accurate and stable registration results compared to the comparative methods.
