Laser & Optoelectronics Progress, Volume. 51, Issue 4, 41002(2014)
Point Cloud Registration Based on Improved Normal Distribution Transform Algorithm
Normal distribution transform (NDT) algorithm is a point cloud registration algorithm applied in simultaneous localization and mapping (SLAM). According to the characteristics of terrestrial laser scanning (TLS) technique, we propose an improved NDT algorithm based on speeded up robust feature (SURF) algorithm so that it can be applied conveniently in TLS. In this algorithm, firstly the corresponding relation between the point cloud and the image is created for the point cloud visualization; the feature points are extracted from the image by using SURF algorithm and the matching feature points are identified; according to the corresponding relation, the transformation matrix is calculated, and the initial registration of point clouds is completed. In the NDT, the initial matrix is set as a unit matrix, and the point clouds are divided into three-dimensional voxel grids and registered precisely by the probability distribution function. The experimental results show that this algorithm is not only applicable to the registration for TLS, but also exhibits higher registration accuracy and less calculating time, and it has especially a good registration effect for the point clouds with different resolutions.
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Zhang Xiao, Zhang Aiwu, Wang Zhihua. Point Cloud Registration Based on Improved Normal Distribution Transform Algorithm[J]. Laser & Optoelectronics Progress, 2014, 51(4): 41002
Category: Image Processing
Received: Nov. 5, 2013
Accepted: --
Published Online: Apr. 8, 2014
The Author Email: Xiao Zhang (zx_2102@163.com)