1.問題描述:
通過合并比例因子引入标準疊代最近點(ICP)算法中,我将配準問題轉化為一個7D的限制優化問題非線性空間。然後,我們應用奇異值分解(SVD)一種疊代求解此類優化問題的方法。最後,建立了一種新的ICP配準算法,稱為Scale-ICP算法具有各向同性拉伸的資料集。為了實作算法的全局收斂性,我們提出了一種初始注冊的選擇方法。證明所提出的方法的性能和效率算法中,我們給出了幾個與Scal算法的比較實驗
2.部分程式:
function c = Solvecircle(s,R,T,I,X,Y,Yo)
pointx = length(X(1,:));
%pointy = length(Y(1,:));
%X進行變化X--Xo--接近Y
Xo = s*R*X+repmat(T,[1 pointx]);
%dsearchn求Z,即Y中對應X的資料
k = dsearchn(Y',Yo,Xo');
Z = Y(:,k);
%計算目前ek內插補點
en = computeE(s,R,T,X,Z);
%計算H矩陣
xc = mean(X,2); %xc,zc為坐标中點
zc = mean(Z,2);
%H = zeros(3,3);
% 計算Xi,Zi
Xi = X - repmat(xc,[1 pointx]);
Zi = Z - repmat(zc,[1 pointx]);
%計算Rk+1
Rn = computeR(Xi,Zi);
%計算s-k+1
sn = computeS(I,Rn,Xi,Zi);
%計算Tk+1
Tn = computeT(zc,sn,Rn,xc);
%對于k+1資料的e,fn
fn = computeE(sn,Rn,Tn,X,Z);
c = cell({Rn;Tn;sn;en;fn});
end
%計算Rk+1
function Rn=computeR(Xi,Zi)
H = Xi*(Zi');
[U S V] = svd(H);
if round(det(V*U')) == 1
Rn = V*U';
elseif round(det(V*U')) == -1
x = [1 0 0;0 1 0;0 0 -1];
Rn = V*x*U';
end
end
%計算sk+1
function sn = computeS(I,Rn,Xi,Zi)
sn = sum(dot(Rn*Xi,Zi))/sum(dot(Xi,Xi));
if sn <= I(1)
sn = I(1);
elseif sn >= I(2)
sn = I(2);
end
end
%計算Tk+1
function Tn = computeT(zc,sn,Rn,xc)
Tn = zc - sn*Rn*xc;
end
%計算Ek+1
function e = computeE(s,R,T,X,Z)
pointx = length(X(1,:));
c = s.*(R*X)+repmat(T,[1 pointx])-Z;
e = sum(dot(c,c));
end