Hand-held 3D Dense Map Construction System Based on Improved ICP Algorithm

摘要

In view of the problems of poor image quality and inaccurate positioning due to interference in interactive control systems, this paper proposes a non-local mean algorithm (NLM) based on adaptive median algorithm (ALM) based on the strategy of salt and pepper noise processing), and applied to non-contact interactive systems based on laser sensors. The main innovations of this paper: 1) In the image preprocessing algorithm, a noise reduction method that is effective for Gaussian noise, salt and pepper noise, and mixed noise of both of them is proposed; 2) The improved denoising algorithm is applied to lidar-based sensor's non-contact interactive system, which significantly improves the interactive performance. Experimental results show that the proposed algorithm has obvious denoising effect, accurate image positioning and good target tracking effect.