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一种基于SAC-NDT和ICP的高精度点云配准方法

Shan Yanhu,Zhang Xiaodan,Chu Chengqun

Microcontrollers & Embedded Systems（2023）

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Abstract
传统的正态分布变换算法精度低,而精度较高的迭代最近点算法极易陷入局部最优解.为了解决以上问题,将采样一致性算法与NDT算法结合作为点云初始配准方法,再利用KD-tree加速的ICP精配准方法完成点云匹配.实验结果表明,本文所提出的方法大大提高了配准精度.
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