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A New Weight Constraint Precision Registration Algorithm

Abstract: Aiming at the precision registration, a registration algorithm with weight#br# constraint is studied in this paper. This algorithm can ensure the registration accuracy by imposing#br# different weights to different registration points. First, the registration model with weight#br# constraint is established by introducing weight factor into traditional registration model. Second,#br# in order to solve the registration model, a weight constraint SVD-ICP algorithm (wSVD-ICP) is#br# studied based on the classical SVD-ICP algorithm. Especially, the detailed solving process of#br# rotation matrix R and transform matrix T based on wSVD algorithm is shown. At last, two#br# applications are presented for demonstration by using simulation data and measuring data#br# respectively. The results indicate that the algorithm employed in this paper can improve the local#br# registration accuracy significantly by assigning high weight to the high precision demand#br# registration points. Moreover, the algorithm can improve the global registration accuracy and#br# efficiency.#br# Key words: registration; weight; constraint; wSVD-ICP   

  • Online:2015-04-30 Published:2015-03-30

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Abstract: Aiming at the precision registration, a registration algorithm with weight
constraint is studied in this paper. This algorithm can ensure the registration accuracy by imposing
different weights to different registration points. First, the registration model with weight
constraint is established by introducing weight factor into traditional registration model. Second,
in order to solve the registration model, a weight constraint SVD-ICP algorithm (wSVD-ICP) is
studied based on the classical SVD-ICP algorithm. Especially, the detailed solving process of
rotation matrix R and transform matrix T based on wSVD algorithm is shown. At last, two
applications are presented for demonstration by using simulation data and measuring data
respectively. The results indicate that the algorithm employed in this paper can improve the local
registration accuracy significantly by assigning high weight to the high precision demand
registration points. Moreover, the algorithm can improve the global registration accuracy and
efficiency.

Key words: registration, weight, constraint, wSVD-ICP