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. First, the dynamic distance matrix was introduced to record the distance of hierarchical searching marked point; to complete the coarse stitching, the marked point was matched through the dynamic distance matrix and the least square method was used to resolve the transformation matrix. Second, at the stage of precisely stitching dynamic hierarchical search points a 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 a 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. (C) 2015 Optical Society of America.
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