基于粒子滤波的部分对应点集刚体配准算法
摘要
To register point sets with outliers including noises and missing data, this paper proposes a novel rigid registration algorithm for partially overlapping point sets with particle filter. It first transforms the special registration problem into a posterior estimation problem, then adopts the motion model based on the alignment error and designs the effective observation model with iterative closest point algorithm. Finally, it directly uses particle filter to solve the rigid partially registration problem. Experimental results illustrate the superiority of the proposed algorithm over previous approaches.
引用本文（GB/T 7714）
ZhongYu LI, ZeJian YUAN, ShaoYi DU, 等. 基于粒子滤波的部分对应点集刚体配准算法[J]. Scientia Sinica Informationis, 2014.
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