Jinyue Liu, Gang Zhang, Xiaohui Jia, Haotian Guo, Tiejun Li. Point Cloud Registration Method Based on Curvature Threshold[J]. Laser & Optoelectronics Progress, 2022, 59(18): 1828006
- Laser & Optoelectronics Progress
- Vol. 59, Issue 18, 1828006 (2022)
Fig. 1. Experimental device
Fig. 2. Flow chart of registration algorithm
Fig. 3. Flow chart of curvature reduction algorithm
Fig. 4. KD tree indexing principle
Fig. 5. Raw point cloud data. (a) Point clouds inside and outside laboratory; (b) corridor point clouds
Fig. 6. Point cloud key point. (a) Feature point of cloud in scene 1; (b) feature point of cloud in scene 2
Fig. 7. Scene 1 point cloud registration rendering. (a) Registration of rendering; (b) real scene diagram
Fig. 8. Scene 2 point cloud registration rendering. (a) Registration of rendering; (b) real scene diagram
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Table 1. Registration data comparison table
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