ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Point cloud registration of space non-cooperative targets based on geodesic distance
Received date: 2021-09-07
Revised date: 2021-10-25
Accepted date: 2021-11-12
Online published: 2021-11-23
Supported by
National Natural Science Foundation of China(62073033)
To realize identification of the dynamic characteristics of the space targets with local structural similarity and tumbling occlusion， a novel point cloud registration method is proposed for the space non-cooperative target by using the density index and global geodesic distance. First， the spherical projection method is introduced to map the irregular point cloud of the space target to the regular spherical manifold. Then， a density evaluation index based on the dispersion degree of point cloud is designed to divide the spherical point cloud into local subsets. On this basis， a global geodesic distance matrix is constructed to enhance the perception of the information of the local shape of the point cloud. Finally， according to the global geodesic distance matrix， a registration matrix between the scene point cloud and the model point cloud is established to realize the dynamic characteristic identification of the space non-cooperative target. Simulation and experimental results show that with similar target local structures and missing point clouds， the proposed algorithm has better registration accuracy compared to Iterative Closet Point（ICP） algorithms and improved ICP algorithms based on convex hull coarse registration.
Bin CHEN , Houyin XI , Xiaodong ZHANG , Min LUO , Zhidong GUO . Point cloud registration of space non-cooperative targets based on geodesic distance[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023 , 44(1) : 326336 -326336 . DOI: 10.7527/S1000-6893.2021.26336
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