The aim of 2D-3D point set registration is to find the optimal transformation and correspon-dence between 3D source point set and 2D target projection point set.In order to obtain the closed-form solution to the registration problem and avoid the volume degradation caused by projection,a volume-pre-serving 2D-3D point set registration algorithm based on Lie group representation was proposed.Firstly,considering the non-commutativity of the projection matrix and the rotation matrix,the Lie group repre-sentation is introduced to formalize the registration problem into an optimization problem based on Lie group.The Lie group optimization problem is transformed into a computationally quadratic programming problem by the local linearization method.Secondly,in order to avoid volume degradation,the projection of 3D transformed point set is constrained to have the same volume as that of 2D target point set.In order to facilitate calculation,the Jensen-Bregman LogDet divergence is introduced as a volume-preserving regu-larization term,converting the volume difference calculation into a covariance matrix difference calcula-tion.Subsequently,a complete and solvable iteration strategy is developed by alternately solving for the correspondence and the optimal transformation.Finally,comparative experiments and ablation experi-ments on two classical data sets verify the accuracy and effectiveness of the proposed approach.
关键词
2D-3D点集配准/Lie群/保体积正则/二次规划
Key words
2D-3D point set registration/Lie group/volume-preserving regularization/quadratic pro-gramming
维普
万方数据