石培杰, 孟荣, 赵智龙, et al. 基于改进PointDSC和KD-ICP的变电站三维点云配准方法[J]. 2025, 44(1): 77-84.
DOI:
石培杰, 孟荣, 赵智龙, et al. 基于改进PointDSC和KD-ICP的变电站三维点云配准方法[J]. 2025, 44(1): 77-84.DOI:
基于改进PointDSC和KD-ICP的变电站三维点云配准方法
摘要
针对传统点云配准中存在精度差、计算效率低、易受噪声干扰等问题,提出了基于改进PointDSC和KD-ICP的变电站三维点云配准方法。首先,设计了变电站高精度三维点云数据采集系统,通过无人机和无人车搭载激光雷达系统获取变电站的点云数据,同时利用基于密度的空间聚类算法进行数据去噪处理。然后,采用快速点特征直方图进行数据的特征描述,并将其输入改进的PointDSC网络进行粗配准。最后,使用KD树优化迭代最近点算法,将其用于处理粗配准后的点云数据,从而实现精配准,得到一个准确拼接的变电站三维点云。基于采集到的变电站点云数据对所提方法进行试验验证,结果表明:配准结果与场景点云几乎重合,配准准确率均值和耗时分别为98.22%和2.49 s
Feng Yang,Yichao Cao,Qifan Xue,Shuai Jin,Xuanpeng Li,Weigong Zhang.CEDR: Contrastive Embedding Distribution Refinement for 3D point cloud representation[J].Signal Processing: Image Communication,2024.
Limei Song,Jipeng Zhang,Jing Luo,Yuxiaolong Zhao,Zhi Qiao.MSCS-ICP: point cloud registration method using multi-view spatial coordinate system–ICP[J].Measurement Science and Technology,2024.
Efraim Amit,Francos Joseph M..Robust point cloud registration for map-based autonomous robot navigation[J].EURASIP Journal on Advances in Signal Processing,2024.
Xianyao Jiang,Yi Xie,Chongning Na,Wenyang Yu,Yu Meng.Algorithm for Point Cloud Dust Filtering of LiDAR for Autonomous Vehicles in Mining Area[J].Sustainability,2024.
He Zehao,Li Ligang,Xu Hongbin,Zong Lv,Dai Yongshou.An obstacle detection method for dual USVs based on SGNN-RMEN registration of dual-view point clouds[J].Ocean Engineering,2024.
Lei Chen,Changzhou Feng,Yunpeng Ma,Yikai Zhao,Chaorong Wang.A review of rigid point cloud registration based on deep learning[J].Frontiers in Neurorobotics,2024.
Zhao Weidong,Zhang Dandan,Li Dan,Zhang Yao,Ling Qiang.Optimized GICP registration algorithm based on principal component analysis for point cloud edge extraction[J].Measurement and Control,2024.
Yunsheng Tian,Xiaofeng Yue,Juan Zhu.Coarse–Fine Registration of Point Cloud Based on New Improved Whale Optimization Algorithm and Iterative Closest Point Algorithm[J].Symmetry,2023.
Wen Chuanwang,Huang Shucheng.A LiDAR point cloud registration method combining linear feature extraction and TrICP algorithm[J].Multimedia Systems,2023.
Liu Yue,Liu Zitu,Li Shuang,Guo Yike,Liu Qun,Wang Guoyin.Cloud-Cluster: An uncertainty clustering algorithm based on cloud model[J].Knowledge-Based Systems,2023.
Wang Hui,Wang Yueming,Cao Jun,Wang Peng,Li Huizhu,Sheng Huaixuan,Sun Luyi,Sai Liman,Chen Jun.Carbon nanodots derived from biomass and their spectral-matching sensing of chromium (VI)[J].Journal of the Iranian Chemical Society,2022.