融合点云RGB影像和3D-NDT算法溶洞的点云自动精确拼接
骆林;杜宁;张显云;王莉;汪波;冯富寿;黄宏畅;
摘要(Abstract):
3D-NDT(正态分布变换)算法是一种应用在同时定位和地图生成(SLAM)的机器人领域中的点云拼接算法。在SLAM中,点云初始拼接是通过机器人测距仪获取两个站之间初始变换完成的,然后采用3D-NDT算法进行精确拼接。地面三维激光扫描仪无法直接获取两站点云的初始变换,因此3D-NDT算法无法直接应用到地面三维激光扫描作业中。文中针对地面三维激光获取溶洞点云数据的扫描流程,提出了一种融合点云RGB影像和3D-NDT算法的点云自动精确拼接方法。实验结果表明,该拼接方法针对百万级大型复杂溶洞点云数据,无论在时间和精度上均较传统拼接方法有很大优势。
关键词(KeyWords): 溶洞点云;RGB影像;同名特征点;正态分布变换;自动拼接
基金项目(Foundation): 贵州省工业公关项目(黔科合GY字(2011)3054);; 贵州省科技厅联合资金项目(黔科合LH字[2014]7646;黔科合LH字[2014]7649);; 贵州大学测绘科学与技术研究生创新实践基地建设项目(贵大研CXJD[2014]002);; 贵州大学教育教学改革研究项目(JG2013074,JG2013045,JG2013046)资助
作者(Author): 骆林;杜宁;张显云;王莉;汪波;冯富寿;黄宏畅;
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