| Citation: | SHI F Y，ZHENG X J，JIANG L H，et al. Point cloud registration algorithm for non-cooperative targets based on Hough transform[J]. Journal of Beijing University of Aeronautics and Astronautics，2023，49（8）：2071-2078 （in Chinese） doi: 10.13700/j.bh.1001-5965.2021.0575
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To solve the problems of missing and fast maneuvering non-cooperative space targets during the point cloud registration, this study examines the point cloud registration process of time-of-flight (TOF) cameras. It proposes a point cloud registration strategy based on Hough transform, utilizing the feature of the TOF camera in obtaining grayscale and depth maps at the same time. This strategy accelerates the closest point search while providing accurate initial poses. Firstly, edge detection is performed on the gray image taken by the TOF camera, and the ellipse center is fitted by the method of random Hough transform, using the edge points. The query point cloud is thus registered with the center of the model point cloud. Then, the geometric features of the image are detected and matched with the features of the corresponding model points to improve the accuracy of the initial pose. This study not only prevents the algorithm from falling into the local minimum, but also successfully solves the problem that the missing target point cloud could not be registered. Finally, in the process of the closest point search, an improved kd-tree method is introduced, and the single k-nearest neighbors are eliminated by the 3σ criterion, improving the dynamic performance of the camera. The algorithm is simulated and analyzed with a real satellite model, successfully verifying its feasibility and robustness for incomplete target registration. Furthermore, the algorithm is 955.3 and 440.4% faster than the that of the traditional Hough transform registration for intact and missing targets. Therefore, the proposed algorithm has a wider application prospect.
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