山东大学学报 (工学版) ›› 2024, Vol. 54 ›› Issue (5): 155-162.doi: 10.6040/j.issn.1672-3961.0.2023.224
• 其他 • 上一篇
张子毅1,孙焘2,王琦1*,张宏博1,程之恒1
ZHANG Ziyi1, SUN Tao2, WANG Qi1*, ZHANG Hongbo1, CHENG Zhiheng1
摘要： 提出一种基于激光雷达的水利点云建图方法。通过采集河段和闸口地形点云数据,选取适当的源点云和目标点云,利用坐标转换的粗配准和优化的迭代最近点的精配准算法,基于最小二乘法求解最优变换矩阵,实现数据转换和点云配准。经试验验证,本研究的配准方法能够完善点云信息,实现点云信息的互补,配准后的点云数量相对目标点云集增加39 807个,探测距离相对目标点云集扩大20.87 m;在精配准方面,对比传统的迭代最近点和正态分布变换2种算法,配准时间分别降低31.63%和3.21%,配准精度误差较迭代最近点算法增加4.30%,较正态分布变换算法减小21.08%。
中图分类号:
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