Application of geometric features in point cloud registration
Qiming Wei · Computer Engineering and Applications Journal · 2010
This paper proposes a 3D measured data registration algorithm.In the algorithm firstly,a triangular pyramid is constructed to each neighborhood.And then it computes the angle of the side edges and the middle axis of the triangular pyramid and constructs the geometric features based on those angles of the triangular pyramid.Thirdly the effective correspondent point pairs are extracted from the geometric features.Lastly the rotation and translation matrix are deduced by quaternion method.Experimental results show the accurate and robust performance of the proposed algorithm.