ABSTRACT

Coordinate transformation is indispensable to unify the three-dimensional (3D) points between different coordinate systems. Traditional methods are generally two-step work: transformation parameter estimation and coordinate transformation. Unlike traditional methods, this paper proposes a direct 3D coordinate transformation method based on the affine invariance of barycentric coordinates. The proposed method avoids solving transformation parameters and requires neither the initial values nor the iterations. Experiments based on LiDAR point cloud registration and coordinate transformation demonstrate that the proposed method can reach or even outperform traditional methods, and is suitable for both similarity and affine transformation of 3D points with strong anisotropic scaling.

摘要

坐标变换对于统一不同坐标系之间的三维（3D）点是必不可少的。传统方法一般分为两步工作：变换参数估计和坐标变换。与传统方法不同，本文提出了一种基于重心坐标仿射不变性的直接3D坐标变换方法。所提出的方法避免了求解变换参数并且既不需要初始值也不需要迭代。基于激光雷达点云配准和坐标变换的实验表明，该方法可以达到甚至优于传统方法，适用于具有强各向异性缩放的3D点的相似和仿射变换。