Point cloud coarse matching method for similar objects

被引：0

作者：

Zhao, Qiang ^{[1
,2
]}

Guo, Xijuan ^{[1
,2
]}

Zhang, Buying ^{[1
,2
]}

Bai, Xinyu ^{[3
]}

机构：

[1] Key Laboratory for Computer Virtual Technology and System Integration of Hebei Province, Yanshan University, No. 438, Hebei Ave., Qinhuangdao,066004, China

[2] College of Information Science and Engineering, Yanshan University, No. 438, Hebei Ave., Qinhuangdao,066004, China

[3] Technical Center, Shenyang Aircraft Corporation, Shenyang,110850, China

来源：

ICIC Express Letters | 2016年 / 10卷 / 09期

关键词：

Computational complexity;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

Point cloud matching is much more difficult when an initial estimate of the relative pose is not known. In order to reduce the effect of relative pose on matching operation and improve the computing speed, this article presents a method to fast match the pose of two similar objects through the covariance of their point cloud coordinates. This paper contains three parts. In the first part, a matrix is constructed through the values of point coordinates of one object and then a set of orthogonal vectors will be obtained through eigenvector of the matrix. Rotation matrix will be obtained by comparing the vectors of two similar objects. In the second part, a description of procedures is given and the complexity of the algorithm is analyzed. In the last part, the experiment shows the proposed method has high computing efficiency and the matching results are acceptable. © 2016 ICIC International.

引用

页码：2283 / 2289