一种空间非合作目标的稀疏点云配准算法

doi:10.3969/j.issn.1674-1579.2016.05.006

Abstract

Abstract: The point cloud data registration is one of the key technologies of threedimensional reconstruction. To solve the registration issue of sparse point cloud scanned from the noncooperative spacecraft, we propose a improved 4points congruent sets (4PCS) algorithm to obtain the preliminary registration result, and optimize the final alignment with the improved iterated closest points (ICP) algorithm. Then，a novel point cloud simplification algorithm using uniform sampling is proposed based on KDTree. The uniform relation of the threshold parameters is established via the density of the point cloud. The results show that the proposed algorithm can effectively achieve good alignments of the sparse point cloud of the satellite, and the consuming time is decreased to 42.49% compared with the Geometric Hashing algorithm.

Key words: noncooperative target, sparse point cloud, point cloud registration, 4PCS algorithm, ICP algorithm

CLC Number:

GUO Rui-Ke, WANG Li, WU Yun, ZHU Fei-Hu. A Sparse Point Cloud Registration Algorithm of NonCooperative Spacecraft [J]., 2016, 42(5): 31-.

0
/ / Recommend

Add to citation manager EndNote|Reference Manager|ProCite|BibTeX|RefWorks

URL: http://journal01.magtech.org.cn/Jwk3_kjkzjs/EN/10.3969/j.issn.1674-1579.2016.05.006

http://journal01.magtech.org.cn/Jwk3_kjkzjs/EN/Y2016/V42/I5/31

References

［1］FISHLER M A, BOLLES R C. Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography［J］. Communications of the ACM. 1981, 24(6): 381395. ［2］WOLFSON H, RIGOUTSOS I. Geometric Hashing: an Overview［J］. IEEE Computer Science and Engineering, 1997：1021. ［3］吴君恺，杨光.基于点云配准的空间目标定位技术的补偿问题研究［C］//全国射线数字成像与CT新技术研讨会，厦门，2014：2028. WU J K, YANG G. Compensation in space targeting technology based on point cloud registration［C］//The Xray Digital Imaging and CT New Technology Conference, Xiamen, 2014: 2028. ［4］RUSU R B. Fast Point Feature Histograms (FPFH) for 3D Registration［C］//In Robotics and Automation, 2009. ICRA 09. IEEE International Conference.New York：IEEE，2009：32123217. ［5］谢冬香，刘先勇.一种快速的三维点云自动配准方法［J］.微型机与应用，2013,32(6):4749. XIE D X, LIU X Y. A robust and automatic registration of 3D point sets［J］. Microcomputer & its Applications, 2013, 32(6): 4749. ［6］IRANI S, RAGHAVAN P. Combinatorial and experimental results for randomized point matching algorithms［J］. Computational Geometry, 1999, 12(12): 1731. ［7］YAO L, RUGGERI M R, TADDEI P, et al. Robust surface registration using Npoints approximate congruent sets［J］. EURASIP Journal on Advances in Signal Processing, 2011: 72. ［8］AIGER D, NILOY M J. 4Points Congruent Sets for Robust Pairwise Surface Registration［J］ ACM Transactions on Graphics (TOG), 2008, 27(3): 8594. ［9］BENTLEY J L. Multidimensional binary search trees used for associative searching［J］. Communications of the ACM, 1975, 18(9): 509517.

[1]	ZHU Angfan, YANG Jiaqi, WANG Li. A Spatial Noncooperative Target Reconstruction Technology Based on Hierarchical Clustering [J]. Aerospace Contrd and Application, 2020, 46(6): 69-72.
[2]	HAO Yun-Cai. Technical Progress and Application of Space Optical Sensor [J]. , 2017, 43(4): 8-18.
[3]	LI Tao, WU Yun. Measurement Technology Based on Stereo Vision for NonCooperative Targets [J]. , 2017, 43(4): 52-56.
[4]	XU Li-Jia, HU Yong. Control for Relative Position of Spacecraft Rendezvous with a NonCooperative Maneuver Target [J]. , 2015, 41(6): 13-.
[5]	GUO Yan-Ning, HAN Xu, GUO Zeng-Qian, ZHANG Yao, MA Guang-Fu. Control System Design and Simulation of Binocular VisionBased NonCooperative Target Proximity Mission [J]. , 2015, 41(5): 6-.
[6]	LI Yi-Peng, ZHAO Chun-Hui, WANG Li. Relative Position and Attitude Estimation of NonCooperative Spacecraft Based on Geometric Features [J]. , 2015, 41(3): 8-13.
[7]	. Simulation Analysis on Proximity Control for a Space NonCooperative Target [J]. , 2014, 40(5): 19-24.
[8]	LIU Zhi-Yong, HE Ying-Zi, CAI Biao, CHENG Ying-Kun. Attitude Control for NonCooperative Target Tracking Based on Nonlinear Observer [J]. , 2013, 39(5): 19-23.

A Sparse Point Cloud Registration Algorithm of NonCooperative Spacecraft

PDF (PC)

Like

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 8

Metrics

Comments

Recommended 0