Shuangwu Chai, Xiaoqin Yang. Line Primitive Point Cloud Registration Method Based on Dual Quaternion[J]. Acta Optica Sinica, 2019, 39(12): 1228006
- Acta Optica Sinica
- Vol. 39, Issue 12, 1228006 (2019)
Fig. 1. Diagram of point cloud registration
Fig. 2. Simplified diagram of point cloud registration
Fig. 3. Flowchart of point cloud registration algorithm
Fig. 4. Point cloud data. (a) Unregistrated station; (b) reference station
Fig. 5. Spatial distributions of homonymous lines. (a) Before registration; (b) after registration
Fig. 6. Visual effects of proposed method. (a) Before registration; (b) after registration
Fig. 7. Visual effects after registration. (a) Method in Ref. [12]; (b) method in Ref. [16]
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Table 1. Comparison of results and time consumption of different methods
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Table 2. Comparison of medium errors of unit vector and moment vector deviations of homonymous lines calculated by different methods after registration
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