An ICP algorithm based on block path closest point search

2nd Annual International Conference on Information System and Artificial Intelligence

物理学;计算机科学

Wang, Kuisheng^1 ; Li, Xing^1 ; Lei, Hongwei^2 ; Zhang, Xiaorui^1

College of Computer Science and Technology, Xi'An Shiyou University, Xi'an Shanxi

710065, China^1

Guangdong Foshan Anda Technology Company, Guangzhou

510000, China^2

关键词: Closest point search;    Global methods;    ICP algorithms;    Nearest point;    Path method;    Point cloud data;    Target point;   

Others  :  https://iopscience.iop.org/article/10.1088/1742-6596/887/1/012063/pdf
DOI  :  10.1088/1742-6596/887/1/012063

学科分类：计算机科学（综合）

来源: IOP

【 摘 要 】

At present, the traditional ICP algorithm has the problems of low efficiency and low precision. To solve these two problems, an ICP algorithm based on block path closest point search is proposed in this paper. The idea of the algorithm is as follows: firstly, the point cloud data is divided into blocks, and the nearest point block corresponding to the target point cloud is searched by the path method. Secondly, according to the global method, the nearest point can be determined only by finding the nearest point block, and complete all the closest match. The experimental results show that the improved ICP algorithm has faster speed and higher precision than the traditional ICP algorithm, for a large number of point cloud data advantage is more obvious.