针对两匹配模型之间的相对初始位置相差太大而使ICP算法收敛方向不确定的问题，提出一种基于能量法的曲面初始配准技术，即首先要根据两个曲面的质心及质心处的法向矢量对曲面进行初始变换，使它们的质心重合并且法矢方向一致，然后将一曲面以质心法矢为旋转轴进行坐标变换，能量差最小的位置即为最优配准位置。经验证，该配准算法运算速度快、效率高，能较好地应用于曲面类零件测量数据与目标数据的初始配准问题。%According to the problems of convergence direction uncertainty of ICP algorithm when the initial position of two matc -hing model is too large ,presents a initial registration techniques which based on surface energy .Energy method of registration sur-face according to the first of two curved center of mass and centroid of the normal vector on the surface of the initial transforma -tion,make their centroid coincidence and normal vector direction ,then a face to centroid vector as the axis of rotation of coordi-nate transformation,the energy difference between the minimum position is the optimal registration position .After verification,the registration algorithm fast operation speed ,high efficiency,and can be applied to registrate two model of measurement data and target data initially .
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