In order to realize point cloud registration of cabin shell,a multi-site cloud registration method based on loop constraint is proposed in this paper.Firstly,ISS is used to extract key points from the scene,and the histo-gram of color information and shape information is fused to obtain the CSHOT feature descriptor of the cabin point cloud shell.Then,based on the rough registration of the loop,the fully connected graph is constructed,and GROR is used to remove the mismatching by combining the maximum consistent set constraint and the closed-loop con-straint.Finally,the global LUM algorithm is used to complete the pose optimization.The experiments show that the average RMSE of this method is 0.0077 m,and the result is good for the point cloud registration of the cabin shell.
关键词
船舱外壳/CSHOT/最大一致性集约束/闭环约束/多站点云配准
Key words
cabin shell/CSHOT/maximum consistency set constraint/closed loop constraints/multi site cloud regis-tration
维普
万方数据