基于Kinect的帧间配准改进ICP算法

李永锋; 张国良; 徐君; 姚二亮

doi:doi:10.3969/j.issn.1671-637x.2016.02.012

电光与控制, 2016, 23 (2): 56, 网络出版: 2016-03-25

基于Kinect的帧间配准改进ICP算法

Improved ICP in Frame-to-Frame Registration Based on Kinect

论文大纲

李永锋张国良徐君姚二亮

作者单位

第二炮兵工程大学,西安 710025

帧间配准特征提取与匹配 frame-to-frame registration feature extraction and matching ICP ICP SVD SVD

摘要

针对ICP算法在帧间配准中对初始值依赖性大的问题,提出了一种新的由粗到精的帧间配准改进ICP算法。算法通过泰勒展开简化相机位姿模型,利用求和思想建立粗配准模型,提高粗配准效率,运用SVD分解进行求解获得相机位姿粗估计,利用ICP算法进行迭代求解以提高算法精度。在特征提取与匹配阶段采用了预设双阈值策略,既保证了粗配准的精度,又确保ICP算法有足够的对应点。与ICP算法及现有改进算法RANSAC-ICP进行比较实验表明,该算法有效解决了上述ICP算法存在的问题,能达到与RANSAC-ICP算法相当的精度,且配准速度显著提高。

Abstract

ICP algorithm is highly dependent on the initial value in frame-to-frame registration.To solve the problem,a new coarse-to-fine frame-to-frame registration algorithm is proposed.Taylor expansion algorithm is used to simplify the camera pose model.Then the coarse registration model is established using summation idea to improve the efficiency of coarse registration.Then,Singular Value Decomposition (SVD) is applied to obtain a coarse estimation of the camera pose,and ICP algorithm is utilized to improve the accuracy.Moreover,dual thresholds are preset in the stage of feature extraction and matching,by which both the coarse registration accuracy and the corresponding point amount of ICP are guaranteed.Contrast experiment was made.The result shows that:Compared with ICP and the improved algorithm RANSAC-ICP,the proposed algorithm can solve the above problem more efficiently,which can achieve equivalent accuracy as RANSAC-ICP algorithm with higher registration speed.

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李永锋, 张国良, 徐君, 姚二亮. 基于Kinect的帧间配准改进ICP算法[J]. 电光与控制, 2016, 23(2): 56. LI Yong-feng, ZHANG Guo-liang, XU Jun, YAO Er-liang. Improved ICP in Frame-to-Frame Registration Based on Kinect[J]. Electronics Optics & Control, 2016, 23(2): 56.

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