点云配准方法.ppt

文档介绍：ABriefIntroductionOfPointCloudRegistrationMethod*PointCloudRegistrationMethodPointCloudRegistrationWithTargetControl34QuaternionMethod21IterativeClosestPoint(ICP)wopointcloudsetsofAandB,areconformationsofthesamepointsindifferentcoordinatesystemsRigidtransformation:Objectivefunction:*面(a)arget(b)arget(d)arget(c)arget*:3translationelements:Adjustmentmodel:Or*:*'sformula:ErrorEquation:*:Supposethat:*:Gravity-centralize:*:Order: