逐步求精的多视角点云配准方法

For registration of multi-view point sets, this paper designs a reasonable objective function. This objective function allows to easily decompose the multi-view registration problem into several pair-wise registration problems. It also considers two important factors: 1) each point set contains regions, which are non-overlapping to all other point sets; 2) the point set attached to the reference frame is more important than other point sets. To solve this function, it then proposes a strategy of stepwise refinement: Given the initial registration parameters, the pair-wise registration algorithm sequentially aligns each point set with the coarse model, which is reconstructed by other initially aligned point sets. Then the pair-wise registration results can be immediately returned to refine the coarse model for registration of other point sets. Accurate results for registration can be obtained by multiple loops, where each complete loop is comprised by traversing all point sets. Experimental results carried on public data sets demonstrate its superiority to achieve registration of multi-view point sets.