ICP 算法步骤

The Iterative Closest Point (ICP) is an algorithm employed to match two surface representations, such as points clouds or polygon meshes.

 

image

 

image

 

Method 1

Optimal transformation:

\min_{R,t}\sum_{i}||Rp_i+t-q_i||_2^2

 

R represented by Euler angles (3 degrees of freedom)

image

image

 

Rp_i+t-q_i=\left( \begin{array}{cccccc} 0&p_i^z&-p_i^y&1&0&0\\ -p_i^z&0&p_i^x&0&1&0\\ p_i^y&-p_i^x&0&0&0&1 \end{array}\right) x-\left( \begin{array}{c} p_i^x-q_i^x\\ p_i^y-q_i^y\\ p_i^z-q_i^z \end{array}\right) =A_ix-b_i

 

A=[A_1,A_2,\cdots,A_n]^T\,\,\,\,\,b=[b_1,b_2,\cdots,b_n]^T

 

 

 

image

 

 

imageimage

 

 

 

 

 

Method 2

 

image

image

image

 

image

 

 

image

image

 

 

References:

1. Exercise 2: 3D Surface Registration

2. Build Your Own 3D Scanner: 3D Photography for Beginners

posted @ 2016-03-10 10:51  VVingerfly  阅读(1825)  评论(0)  编辑  收藏  举报