3D人脸ICP算法配准

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  • 2022-04-21 08:04
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根据迭代最近点算法,将两个3D人脸(点云)进行自动配准,并给出匹配度
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内容介绍
<html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta charset="utf-8"> <meta name="generator" content="pdf2htmlEX"> <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1"> <link rel="stylesheet" href="https://static.pudn.com/base/css/base.min.css"> <link rel="stylesheet" href="https://static.pudn.com/base/css/fancy.min.css"> <link rel="stylesheet" href="https://static.pudn.com/prod/directory_preview_static/62674ef74c65f4125961c401/raw.css"> <script src="https://static.pudn.com/base/js/compatibility.min.js"></script> <script src="https://static.pudn.com/base/js/pdf2htmlEX.min.js"></script> <script> try{ pdf2htmlEX.defaultViewer = new pdf2htmlEX.Viewer({}); }catch(e){} </script> <title></title> </head> <body> <div id="sidebar" style="display: none"> <div id="outline"> </div> </div> <div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/62674ef74c65f4125961c401/bg1.jpg"><div class="c x0 y1 w2 h2"><div class="t m0 x1 h3 y2 ff1 fs0 fc0 sc0 ls0 ws0">&#36845;&#20195;&#26368;&#36817;&#28857;&#31639;&#27861;&#32508;&#36848;</div><div class="t m0 x2 h4 y3 ff1 fs1 fc0 sc0 ls0 ws0">&#25688;&#35201;&#65306;<span class="sc1">&#19977;&#32500;&#28857;&#38598;&#37197;&#20934;&#38382;&#39064;&#26159;&#35745;&#31639;&#26426;&#25216;&#26415;&#20013;&#30340;&#19968;&#20010;&#26497;&#20854;&#37325;&#35201;&#30340;&#38382;&#39064;&#65292;&#20316;&#20026;&#35299;&#20915;&#19977;&#32500;&#28857;&#38598;&#37197;&#20934;&#38382;&#39064;&#30340;&#19968;&#20010;&#24212;&#29992;</span></div><div class="t m0 x2 h5 y4 ff1 fs1 fc0 sc1 ls0 ws0">&#36739;&#20026;&#24191;<span class="_ _0"></span>&#27867;&#30340;&#31639;<span class="_ _0"></span>&#27861;&#65292;<span class="_ _0"></span><span class="ff2">ICP<span class="_"> </span></span>&#31639;&#27861;&#24471;&#21040;&#20102;<span class="_ _0"></span>&#30740;&#31350;&#32773;<span class="_ _0"></span>&#30340;&#20851;&#27880;<span class="_ _0"></span>&#65292;&#26412;&#25991;<span class="_ _0"></span>&#20197;&#19968;&#31181;<span class="_ _0"></span>&#20840;&#26032;&#30340;<span class="_ _0"></span>&#24605;&#36335;&#20174;<span class="_ _1"></span><span class="fs2">&#37197;&#20934;&#20803;<span class="_ _0"></span>&#32032;&#30340;&#36873;<span class="_ _0"></span>&#25321;&#12289;&#37197;<span class="_ _0"></span>&#20934;&#31574;</span></div><div class="t m0 x2 h5 y5 ff1 fs2 fc0 sc1 ls0 ws0">&#30053;&#30340;&#30830;&#23450;&#21644;&#35823;&#24046;&#20989;&#25968;&#30340;&#27714;&#35299;&#31561;<span class="_ _2"> </span><span class="ff2 fs1">3<span class="_ _3"> </span><span class="ff1">&#20010;&#26041;&#38754;&#23545;&#19977;&#32500;&#28857;&#38598;&#37197;&#20934;&#30340;<span class="_ _3"> </span></span>ICP<span class="_"> </span><span class="ff1">&#31639;&#27861;&#30340;&#21508;&#31181;&#25913;&#36827;&#21644;&#20248;&#21270;&#36827;&#34892;&#20102;&#20998;&#31867;&#21644;&#24635;</span></span></div><div class="t m0 x2 h4 y6 ff1 fs1 fc0 sc1 ls0 ws0">&#32467;&#12290;</div><div class="t m0 x2 h4 y7 ff1 fs1 fc0 sc0 ls0 ws0">&#20851;&#38190;&#35789;&#65306;<span class="sc1">&#19977;&#32500;&#28857;&#38598;&#65307;&#36845;&#20195;&#26368;&#36817;&#28857;&#65307;&#37197;&#20934;</span></div><div class="t m0 x2 h6 y8 ff2 fs3 fc0 sc1 ls0 ws0">1<span class="_ _4"> </span><span class="ff1">&#24341;&#35328;</span></div><div class="t m0 x3 h5 y9 ff1 fs2 fc0 sc1 ls0 ws0">&#22312;&#35745;<span class="_ _0"></span>&#31639;&#26426;<span class="_ _0"></span>&#24212;&#29992;<span class="_ _0"></span>&#39046;&#22495;<span class="_ _0"></span>&#65292;&#19977;<span class="_ _0"></span>&#32500;<span class="_ _0"></span>&#28857;&#38598;<span class="_ _0"></span>&#37197;&#20934;<span class="_ _0"></span>&#26159;&#19968;<span class="_ _0"></span>&#20010;&#38750;<span class="_ _0"></span>&#24120;&#37325;<span class="_ _0"></span>&#35201;&#30340;<span class="_ _0"></span>&#20013;&#38388;<span class="_ _0"></span>&#27493;&#39588;<span class="_ _0"></span>&#65292;&#23427;<span class="_ _0"></span>&#22312;&#34920;<span class="_ _0"></span>&#38754;&#37325;<span class="_ _0"></span>&#24314;&#12289;<span class="_ _0"></span>&#19977;&#32500;</div><div class="t m0 x2 h5 ya ff1 fs2 fc0 sc1 ls0 ws0">&#29289;&#20307;<span class="_ _0"></span>&#35782;<span class="_ _0"></span>&#21035;&#12289;<span class="_ _0"></span>&#30456;<span class="_ _0"></span>&#26426;&#23450;<span class="_ _0"></span>&#20301;<span class="_ _0"></span>&#31561;<span class="_ _0"></span>&#38382;&#39064;<span class="_ _0"></span>&#20013;<span class="_ _0"></span>&#26377;&#30528;<span class="_ _0"></span>&#26497;<span class="_ _0"></span>&#20854;&#37325;<span class="_ _0"></span>&#35201;<span class="_ _0"></span>&#30340;<span class="_ _0"></span>&#24212;&#29992;</div><div class="t m0 x4 h7 yb ff2 fs4 fc1 sc1 ls0 ws0">[1]</div><div class="t m0 x5 h5 ya ff1 fs2 fc0 sc1 ls0 ws0">&#12290;&#23545;<span class="_ _0"></span>&#20110;<span class="_ _0"></span>&#19977;&#32500;<span class="_ _0"></span>&#28857;<span class="_ _0"></span>&#38598;&#37197;<span class="_ _0"></span>&#20934;<span class="_ _0"></span>&#38382;<span class="_ _0"></span>&#39064;&#65292;<span class="_ _0"></span>&#30740;<span class="_ _0"></span>&#31350;&#32773;<span class="_ _0"></span>&#25552;</div><div class="t m0 x2 h5 yc ff1 fs2 fc0 sc1 ls0 ws0">&#20986;&#20102;<span class="_ _0"></span>&#24456;&#22810;<span class="_ _0"></span>&#35299;&#20915;<span class="_ _0"></span>&#26041;&#26696;<span class="_ _0"></span>&#65292;&#22914;<span class="_ _0"></span>&#28857;<span class="_ _0"></span>&#26631;&#35760;<span class="_ _0"></span>&#27861;&#12289;<span class="_ _0"></span>&#33258;&#26059;<span class="_ _0"></span>&#22270;&#20687;<span class="_ _0"></span>&#12289;&#20027;<span class="_ _0"></span>&#26354;&#29575;<span class="_ _0"></span>&#26041;&#27861;<span class="_ _0"></span>&#12289;&#36951;<span class="_ _0"></span>&#20256;&#31639;<span class="_ _0"></span>&#27861;&#12289;<span class="_ _0"></span>&#38543;&#26426;<span class="_ _0"></span>&#37319;&#26679;<span class="_ _0"></span>&#19968;&#33268;<span class="_ _0"></span>&#24615;<span class="_ _0"></span>&#31639;</div><div class="t m0 x2 h5 yd ff1 fs2 fc0 sc1 ls0 ws0">&#27861;&#31561;<span class="_ _0"></span>&#31561;&#65292;<span class="_ _0"></span>&#36825;&#20123;<span class="_ _0"></span>&#31639;&#27861;<span class="_ _0"></span>&#21508;&#26377;<span class="_ _0"></span>&#29305;<span class="_ _0"></span>&#33394;&#65292;<span class="_ _0"></span>&#22312;&#35768;<span class="_ _0"></span>&#22810;&#29305;<span class="_ _0"></span>&#23450;&#30340;<span class="_ _0"></span>&#24773;&#20917;<span class="_ _0"></span>&#19979;&#33021;<span class="_ _0"></span>&#22815;&#35299;<span class="_ _0"></span>&#20915;&#37197;<span class="_ _0"></span>&#20934;&#30340;<span class="_ _0"></span>&#38382;&#39064;<span class="_ _0"></span>&#12290;&#20294;<span class="_ _0"></span>&#26159;&#24212;<span class="_ _0"></span>&#29992;&#26368;<span class="_ _0"></span>&#24191;<span class="_ _0"></span>&#27867;</div><div class="t m0 x2 h5 ye ff1 fs2 fc0 sc1 ls0 ws0">&#30340;&#65292;<span class="_ _0"></span>&#24433;<span class="_ _0"></span>&#21709;&#26368;<span class="_ _0"></span>&#22823;<span class="_ _0"></span>&#30340;&#36824;<span class="_ _0"></span>&#26159;<span class="_ _0"></span>&#30001;<span class="_ _5"> </span><span class="ff2">Besl<span class="_ _2"> </span></span>&#21644;<span class="_ _2"> </span><span class="ff2">Mckay<span class="_ _6"> </span></span>&#22312;<span class="_ _6"> </span><span class="ff2">1992<span class="_"> </span></span>&#24180;&#25552;&#20986;<span class="_ _0"></span>&#30340;<span class="_ _0"></span>&#36845;<span class="_ _0"></span>&#20195;&#26368;<span class="_ _0"></span>&#36817;<span class="_ _0"></span>&#28857;&#31639;<span class="_ _0"></span>&#27861;</div><div class="t m0 x6 h7 yf ff2 fs4 fc1 sc1 ls0 ws0">[2]</div><div class="t m0 x7 h5 ye ff1 fs2 fc0 sc1 ls0 ws0">&#65288;<span class="ff2">Iterative<span class="_ _0"></span> Closest</span></div><div class="t m0 x2 h5 y10 ff2 fs2 fc0 sc1 ls0 ws0">Point<span class="ff1">&#65292;</span>ICP<span class="_ _0"></span><span class="ff1">&#65289;&#65292;<span class="_ _0"></span>&#23427;&#26159;<span class="_ _0"></span>&#22522;&#20110;&#32431;<span class="_ _0"></span>&#31929;&#20960;&#20309;<span class="_ _0"></span>&#27169;&#22411;&#30340;<span class="_ _0"></span>&#19977;&#32500;&#29289;<span class="_ _0"></span>&#20307;&#23545;&#20934;<span class="_ _0"></span>&#31639;&#27861;&#65292;<span class="_ _0"></span>&#30001;&#20110;<span class="_ _0"></span>&#23427;&#30340;&#24378;<span class="_ _0"></span>&#22823;&#21151;&#33021;<span class="_ _0"></span>&#20197;&#21450;&#39640;<span class="_ _0"></span>&#30340;</span></div><div class="t m0 x2 h5 y11 ff1 fs2 fc0 sc1 ls0 ws0">&#31934;&#30830;&#24230;&#65292;&#24456;&#24555;&#23601;&#25104;&#20026;&#20102;&#26354;&#38754;&#37197;&#20934;&#20013;&#30340;&#20027;&#27969;&#31639;&#27861;&#12290;</div><div class="t m0 x3 h5 y12 ff1 fs2 fc0 sc1 ls0 ws0">&#38543;&#30528;<span class="_ _2"> </span><span class="ff2">ICP<span class="_ _6"> </span></span>&#31639;<span class="_ _0"></span>&#27861;<span class="_ _0"></span>&#30340;&#24191;<span class="_ _0"></span>&#27867;&#24212;<span class="_ _0"></span>&#29992;&#65292;<span class="_ _0"></span>&#35768;&#22810;<span class="_ _0"></span>&#30740;&#31350;<span class="_ _0"></span>&#32773;&#23545;<span class="_ _7"> </span><span class="ff2">ICP<span class="_ _6"> </span></span>&#31639;<span class="_ _0"></span>&#27861;&#20570;<span class="_ _0"></span>&#20102;&#35814;<span class="_ _0"></span>&#32454;&#30340;<span class="_ _0"></span>&#30740;&#31350;<span class="_ _0"></span>&#65292;&#20998;<span class="_ _0"></span>&#26512;&#20102;<span class="_ _0"></span>&#35813;&#31639;<span class="_ _0"></span>&#27861;<span class="_ _0"></span>&#30340;</div><div class="t m0 x2 h5 y13 ff1 fs2 fc0 sc1 ls0 ws0">&#32570;&#38519;<span class="_ _0"></span>&#21644;&#29305;<span class="_ _0"></span>&#28857;&#65292;<span class="_ _0"></span>&#25552;&#20986;<span class="_ _0"></span>&#20102;&#35768;<span class="_ _0"></span>&#22810;<span class="_ _0"></span>&#26377;&#20215;<span class="_ _0"></span>&#20540;&#30340;<span class="_ _0"></span>&#25913;&#36827;<span class="_ _0"></span>&#65292;&#25512;<span class="_ _0"></span>&#21160;&#20102;<span class="_ _0"></span>&#36825;&#19968;<span class="_ _0"></span>&#37325;&#35201;<span class="_ _0"></span>&#31639;&#27861;<span class="_ _0"></span>&#30340;&#21457;<span class="_ _0"></span>&#23637;&#12290;<span class="_ _0"></span>&#26412;&#25991;<span class="_ _0"></span>&#30528;&#30524;<span class="_ _0"></span>&#20110;<span class="_ _7"> </span><span class="ff2">ICP<span class="_"> </span></span>&#31639;</div><div class="t m0 x2 h5 y14 ff1 fs2 fc0 sc1 ls0 ws0">&#27861;&#30340;<span class="_ _0"></span>&#21457;&#23637;<span class="_ _0"></span>&#21382;&#31243;<span class="_ _0"></span>&#65292;&#35814;<span class="_ _0"></span>&#32454;&#20171;<span class="_ _0"></span>&#32461;<span class="_ _0"></span>&#20102;<span class="_ _2"> </span><span class="ff2">ICP<span class="_ _6"> </span></span>&#31639;<span class="_ _0"></span>&#27861;&#30340;<span class="_ _0"></span>&#22522;<span class="_ _0"></span>&#26412;&#21407;<span class="_ _0"></span>&#29702;&#65292;<span class="_ _0"></span>&#24635;&#32467;<span class="_ _0"></span>&#20854;&#21457;<span class="_ _0"></span>&#23637;&#21644;<span class="_ _0"></span>&#25913;&#36827;<span class="_ _0"></span>&#30340;<span class="_ _0"></span>&#36807;&#31243;<span class="_ _0"></span>&#65292;&#23545;<span class="_ _0"></span>&#20110;&#35813;<span class="_ _0"></span>&#31639;&#27861;</div><div class="t m0 x2 h5 y15 ff1 fs2 fc0 sc1 ls0 ws0">&#30340;&#21508;&#20010;&#38454;&#27573;&#30340;&#21457;&#23637;&#21644;&#21464;&#21270;&#20570;&#20102;&#31616;&#21333;&#30340;&#35770;&#36848;&#12290;</div><div class="t m0 x2 h6 y16 ff2 fs3 fc0 sc1 ls0 ws0">2<span class="_ _4"> </span>ICP<span class="_ _5"> </span><span class="ff1">&#31639;&#27861;&#21407;&#29702;</span></div><div class="t m0 x2 h5 y17 ff3 fs2 fc0 sc1 ls0 ws0">2.1<span class="_ _8"> </span>ICP<span class="_ _6"> </span><span class="ff1 sc0">&#31639;&#27861;&#21407;&#29702;</span></div><div class="t m0 x3 h5 y18 ff2 fs2 fc0 sc1 ls0 ws0">ICP<span class="_ _6"> </span><span class="ff1">&#31639;<span class="_ _0"></span>&#27861;<span class="_ _0"></span>&#20027;<span class="_ _0"></span>&#35201;&#29992;<span class="_ _0"></span>&#20110;<span class="_ _0"></span>&#19977;&#32500;<span class="_ _0"></span>&#29289;<span class="_ _0"></span>&#20307;&#30340;<span class="_ _0"></span>&#37197;<span class="_ _0"></span>&#20934;<span class="_ _0"></span>&#38382;&#39064;<span class="_ _0"></span>&#65292;<span class="_ _0"></span>&#21487;&#20197;<span class="_ _0"></span>&#29702;<span class="_ _0"></span>&#35299;&#20026;<span class="_ _0"></span>&#65306;<span class="_ _0"></span>&#32473;<span class="_ _0"></span>&#23450;&#20004;<span class="_ _0"></span>&#20010;<span class="_ _0"></span>&#26469;&#33267;<span class="_ _0"></span>&#19981;<span class="_ _0"></span>&#21516;&#22352;<span class="_ _0"></span>&#26631;<span class="_ _0"></span>&#31995;<span class="_ _0"></span>&#30340;&#19977;</span></div><div class="t m0 x2 h5 y19 ff1 fs2 fc0 sc1 ls0 ws0">&#32500;<span class="_ _3"> </span>&#25968;<span class="_ _3"> </span>&#25454;<span class="_ _6"> </span>&#28857;<span class="_ _3"> </span>&#38598;<span class="_ _3"> </span>&#65292;<span class="_ _3"> </span>&#25214;<span class="_ _6"> </span>&#20986;<span class="_ _3"> </span>&#20004;<span class="_ _3"> </span>&#20010;<span class="_ _6"> </span>&#28857;<span class="_ _3"> </span>&#38598;<span class="_ _3"> </span>&#30340;<span class="_ _3"> </span>&#31354;<span class="_ _6"> </span>&#38388;<span class="_ _3"> </span>&#21464;<span class="_ _3"> </span>&#25442;<span class="_ _3"> </span>&#65292;<span class="_ _6"> </span>&#20197;<span class="_ _3"> </span>&#20415;<span class="_ _3"> </span>&#23427;<span class="_ _6"> </span>&#20204;<span class="_ _3"> </span>&#33021;<span class="_ _3"> </span>&#36827;<span class="_ _3"> </span>&#34892;<span class="_ _6"> </span>&#31354;<span class="_ _3"> </span>&#38388;<span class="_ _3"> </span>&#21305;<span class="_ _3"> </span>&#37197;<span class="_ _6"> </span>&#12290;<span class="_ _3"> </span>&#20551;<span class="_ _3"> </span>&#23450;<span class="_ _6"> </span>&#29992;<span class="_ _7"> </span><span class="ff2">{</span></div><div class="t m0 x8 h5 y1a ff2 fs2 fc0 sc1 ls0 ws0">}<span class="_ _0"></span><span class="ff1">&#34920;<span class="_ _0"></span>&#31034;&#31354;<span class="_ _0"></span>&#38388;<span class="_ _0"></span>&#31532;<span class="_ _0"></span>&#19968;<span class="_ _0"></span>&#20010;<span class="_ _0"></span>&#28857;<span class="_ _0"></span>&#38598;<span class="_ _0"></span>&#65292;<span class="_ _0"></span>&#31532;<span class="_ _0"></span>&#20108;&#20010;<span class="_ _0"></span>&#28857;<span class="_ _0"></span>&#38598;<span class="_ _0"></span>&#30340;<span class="_ _0"></span>&#23545;<span class="_ _0"></span>&#40784;<span class="_ _0"></span>&#21305;<span class="_ _0"></span>&#37197;&#21464;<span class="_ _9"></span>&#25442;&#20026;<span class="_ _0"></span>&#20351;<span class="_ _0"></span>&#19979;<span class="_ _0"></span>&#24335;<span class="_ _0"></span>&#30340;<span class="_ _0"></span>&#30446;<span class="_ _0"></span>&#26631;<span class="_ _0"></span>&#20989;&#25968;<span class="_ _9"></span>&#26368;</span></div><div class="t m0 x2 h5 y1b ff1 fs2 fc0 sc1 ls0 ws0">&#23567;</div><div class="t m0 x9 h8 y1c ff2 fs5 fc1 sc1 ls0 ws0">[3]</div><div class="t m0 xa h5 y1b ff1 fs2 fc0 sc1 ls0 ws0">&#12290;</div><div class="t m0 x3 h5 y1d ff2 fs2 fc0 sc1 ls0 ws0">ICP<span class="_ _6"> </span><span class="ff1">&#31639;&#27861;<span class="_ _0"></span>&#30340;&#23454;<span class="_ _0"></span>&#36136;&#26159;&#22522;<span class="_ _0"></span>&#20110;&#26368;&#23567;<span class="_ _0"></span>&#20108;&#20056;&#27861;<span class="_ _0"></span>&#30340;&#26368;&#20248;<span class="_ _0"></span>&#21305;&#37197;&#31639;<span class="_ _0"></span>&#27861;&#65292;&#23427;<span class="_ _0"></span>&#37325;&#22797;<span class="_ _0"></span>&#36827;&#34892;&#8220;<span class="_ _0"></span>&#30830;&#23450;&#23545;<span class="_ _0"></span>&#24212;&#20851;&#31995;<span class="_ _0"></span>&#28857;&#38598;&#8212;</span></div><div class="t m0 x2 h5 y1e ff1 fs2 fc0 sc1 ls0 ws0">&#35745;&#31639;&#26368;<span class="_ _0"></span>&#20248;&#21018;&#20307;<span class="_ _0"></span>&#21464;&#25442;&#8221;<span class="_ _0"></span>&#30340;&#36807;&#31243;<span class="_ _0"></span>&#65292;&#30452;<span class="_ _0"></span>&#21040;&#26576;&#20010;<span class="_ _0"></span>&#34920;&#31034;&#27491;<span class="_ _0"></span>&#30830;&#21305;&#37197;<span class="_ _0"></span>&#30340;&#25910;&#25947;<span class="_ _0"></span>&#20934;&#21017;&#24471;<span class="_ _0"></span>&#21040;&#28385;&#36275;<span class="_ _0"></span>&#12290;<span class="_ _1"></span><span class="ff2">ICP </span>&#31639;&#27861;&#30340;&#30446;<span class="_ _0"></span>&#30340;</div></div></div><div class="pi" data-data='{"ctm":[1.611850,0.000000,0.000000,1.611850,0.000000,0.000000]}'></div></div> </body> </html>
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