STUDY ON STITCHING ALGORITHM OF THE ITERATIVE CLOSEST POINT BASED ON DYNAMIC HIERARCHY

摘要

In order to improve the efficiency of matching marked points, the accuracy and automation of point cloud stitching, a stitching algorithm of dynamic hierarchy of the Iterative Closest Point is proposed. Firstly, the dynamic distance matrix was introduced to record the distance of hierarchical searching Marked Point; to complete the coarse stitching, matching the marked point through the dynamic distance matrix and using Least Square method to resolve the transformation matrix. Secondly, at the stage of precisely stitching dynamic hierarchical search points set was taken to initialize a valid initial position for the Iterative Closest Point algorithm, then the local optimum of the Iterative Closest Point algorithm was avoided. In three dimensional stitching experiment the precise stitching distance error has reached 0.0085 mm; the method is testified to be simple, practical and characterized by high stitching precision.