关键词: 点云配准算法, 点云骨架, 边缘提取

Abstract: In response to the problems of long computation time and slow convergence speed in existing registration algorithms,a registration algorithm is proposed based on point cloud skeleton and edge contour for measured point cloud data of headgear workpieces.Firstly,point cloud data is downsampled based on voxel filtering algorithm.Then,the L1 center skeleton extraction algorithm and edge extraction algorithm are used to calculate the skeleton points and edge feature points of the point cloud as key points of the point cloud model.Finally,the reference point cloud model and target point cloud key points are used as inputs for the registration algorithm.Point cloud registration is performed based on principal component analysis algorithm and ICP algorithm.Through simulation experiments on the publicly available dataset Cactus and measured headcover point cloud data,the proposed algorithm has high registration accuracy and less computational time.

Key words: Point cloud registration algorithm, Point cloud skeleton, Edge extraction