面向深度相机位姿优化的帧间点云数据配准算法

李兴东,高赫蔚,孙龙

Inter frame point clouds registration algorithm for pose optimization of depth camera

Xing-dong LI,He-wei GAO,Long SUN

表 1 搜索半径及从两帧点云中提取的三维点子集

Tab.1 Searching radius and 3D point sets extracted from two point clouds

k rk /m $\left| {{{P}}_{{a_k}}^i} \right|$ $\left| {{{P}}_{{a_k}}^j} \right|$ 1 0.56 2 439 2 551 2 2.36 1 215 1 185 3 0.47 1 284 1 263 4 0.89 2 626 2 465