多视角下多特征融合的三维局部特征描述符

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关键词：点云；局部特征描述符；多视角特征；多特征融合；特征匹配中图分类号：TP394.1;TH691.9 文献标识码：Adoi：10.37188/OPE.20253316.2602 CSTR：32169.14.OPE.20253316.2602

3D local feature descriptor based on multi-view geometric distribution signatures

HAO Wen1，2*， ，WEIHainan 1，2

（1. College ofComputer Science and Engineering， Xi'an University of Technology， Xi'an 710048， China; 2. Shaanxi Key Laboratory for Network Computing and Security Technology， Xi'an 71O048， China） *Corresponding author，E-mail： haowen@xaut.edu. cn

Abstract： To address the problem of incomplete description of local surface geometric features by existing handerafted descriptors，this paper proposed a high-discriminative and robust multi-view geometric distribution signature （MGDS）. First，a local reference frame（LRF）was constructed based on the keypoints and their neighboring points.The local surface was Voxelized.The centroid distribution of the 3D voxels， the contour features of 2D sectors，the point density distribution of 2D grid，and the depth fluctuation of the surface were calculated to generate the geometric feature descriptor. Next， the local surface Was rotated multiple times based on the LRF to generate new shape representations. The rotated surfaces were encoded using centroid，contour point，density，and z -value fluctuation information. By capturing these geometric feature descriptors from multiple viewpoints and concatenating them into a single feature vector，the final multi-view geometric distribution signature （MGDS）was obtained. Experiments are conducted on fourdatasets：RandomView，SpaceTime，Kinect，and B3R with diffrent Gaussian noise and grid resolutions.The proposed MGDS descriptor is compared with ten existing descriptors. Compared to other descriptors，MGDS descriptors outperform existing local feature descriptors. Experimental results indicate that the proposed MGDS descriptor exhibits good descriptiveness and robustness，making it suitable for accurate registration of 3D point cloud.

Key words： point cloud；local featuredescriptor；multi-view features；multi-feature fusion； feature matching

1引言

在三维计算机视觉领域，局部形状描述符作为点云数据处理的重要工具，已广泛应用于点云配准[1-2]、物体识别[3]以及地点识别4]等多个领域。（剩余17327字）