| 摘要: |
| 基于3D激光雷达传感器的同时定位与地图构建（SLAM）技术，是机器人自主定位解决方案的核心。三维点云配准环节是3D激光雷达SLAM实现自身定位与地图构建的关键所在。重点围绕ICP算法在三维激光点云配准中的应用开展研究，首先对ICP算法的配准原理及其求解过程进行详细分析，其次介绍了ICP的影响因素并提出了相应的评价指标，最后测试了ICP算法在不同角度和位移下的配准效果并进行了实验分析。 |
| 关键词: 三维点云配准 ICP算法 影响因素 评价指标 |
| DOI： |
|
| 基金项目:上海市科委重点项目（17DZ1100803）；上海市科委项目（17511106300） |
|
| The Analysis of Influence Factors and Evaluation Indexes on ICP Algorithm |
| CHEN Chun-xu,QI Yu-hui,ZHU Yi-fan,PEI Ling,XU Chang-qing |
| (Shanghai Jiao Tong University, Shanghai Key Laboratory of Navigation and Location-based Services, Shanghai 200240, China;School of Information Engineering, Nanchang University, Nanchang 330031, China) |
| Abstract: |
| Simultaneous Localization and Mapping (SLAM) technology based on multi-layer LiDAR sensor is the core solution of the robot autonomous localization. Registration on 3D laser point clouds is the key to realize self-positioning and map building. This paper focuses on the application of ICP (Iteration closest point) algorithm in 3D laser point cloud registration. Firstly, the registration principle and the solution process of the ICP algorithm is introduced. Secondly, the influencing factors and the corresponding evaluation indexes of ICP are proposed. Finally, the effects of the ICP algorithm at different angles and displacements are tested and the experimental analysis is given. |
| Key words: 3D point cloud registration ICP algorithm Influence factors Evaluation indexes |
