Title:
ICP-point-cloud-registration
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Description: Three-dimensional laser point cloud registration is one of the key three-dimensional point cloud model. High classical ICP algorithm to the initial position of the point cloud registration requirements and low efficiency, proposed an improved ICP point cloud registration algorithm. Firstly, the use of principal component analysis of the initial point cloud registration, get a better initial position of the point cloud, then the basis of classical ICP algorithm using k- d tree structure to achieve speed up the search, and using the direction vector angle the removal of the threshold point error and improve the efficiency of the algorithm. Experiments show that the algorithm processes to ensure the accuracy of registration under the premise, significantly improve the efficiency of registration.
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鏀硅繘鐨処CP鐐逛簯閰嶅噯绠楁硶_鏈辨柊瀹?caj
