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ABriefIntroductionOfPointCloudRegistrationMethod杨哲173282仪器科学与工程学院2PointCloudRegistrationMethodPointCloudRegistrationWithTargetControl34QuaternionMethod21IterativeClosestPoint(ICP)Algorithm仪器科学与工程学院4OutlineTwopointcloudsetsofAandB,areconformationsofthesamepointsindifferentcoordinatesystemsRigidtransformation:Objectivefunction:仪器科学与工程学院1.PointCloudRegistrationWithTargetControl4面（a）Leicastandardrotationplanetarget（b）MensiplanetargetFigure1Differentkindsofplanetarget（d）Mensiplanetarget（c）FAROstandardplanetarget仪器科学与工程学院51.PointCloudRegistrationWithTargetControl6spatialsimilaritytransformationparameters3angleelements:3translationelements:Adjustmentmodel:Or仪器科学与工程学院61.PointCloudRegistrationWithTargetControlRotationmatrix:仪器科学与工程学院71.PointCloudRegistrationWithTargetControlTheexpansionofTaylor'sformula:ErrorEquation:仪器科学与工程学院8G1.PointCloudRegistrationWithTargetControlDerivativevalue:Supposethat:仪器科学与工程学院91.PointCloudRegistrationWithTargetControlErrorequationmatrix:Gravity-centralize:仪器科学与工程学院101.PointCloudRegistrationWithTargetControlNpairsofcorrespondingpoints:Order:仪器科学与工程学院111.PointCloudRegistrationWithTargetControlErrorequation:仪器科学与工程学院1.PointCloudRegistrationWithTargetControl12Newapproximatevalue:Iteration:Finally,wegetthevaluesofparameter:仪器科学与工程学院2.IterativeClosestPoint(ICP)Algorithm13Basicthought:Firstly,fromapointset,abarcurve,orasurfacetofindtheclosestpointthatcorrespondstoonepoint,andthenusesthisresulttofindtwocorrespondingpointsets.Finally,wefindoutthecorrespondingpointsetandthecorrespondingtransformationmatrix.Basicsteps:Step1:SearchforthenearestpointsStep2:SolvetransformationrelationsStep3:ApplicationtransformationStep4:Repeatediteration仪器科学与工程学院3QuaternionMethodWhatisQuaternion?14UnitquaternionsRotationmatrixR仪器科学与工程学院3.QuaternionMethodDefinitetranslationvector:15Completeregistrationstation:Assumethat:Minimumobjectivefunction:Thecentroidofthesetofbasicpoints:仪器科学与工程学院3.QuaternionMethod16Orthogonalcovariancematrixofpointset:Antisymmetricmatrix’scycliccomponents:Constructasymmetricmatrix:仪器科学与工程学院3.QuaternionMethod17Translationmatrix:Theuniteigenvectorcorrespondingtothemaximumeigenvalueofmatrix:ConclusionsThankyou！18