3D Point Sets Matching Method Based on Moravec Vertical Interest Operator
The purpose of this paper is to solve the problem of matching two 3D point sets quickly in the field of robot vision. Moravec vertical interest operator is used to extract vertical edge feature of objects. The method of the sum squared difference (SSD) is used to match the feature points and obtain the 3D point sets which contain vertical line feature. Find the transformation relation of rotation and translation of corresponding straight lines in two 3D point sets according to the projection point of vertical line projected into x-y plane. Depending on the transformation relation, it can match two 3D point sets. The experiment results illustrate that this method has good exactness and robustness.
KeywordsFeature Point Iterative Close Point Iterative Close Point Transformation Relation Vertical Feature
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