摘要：In this paper, we proposed a method
for semi-rigid changed 3D point clouds registration. We first segment the point
clouds into individual segments and then the alignment energy costs of each
segment are calculated. The rough initial transformation is estimated by
minimizing the energy cost using integer programming. The final registration
results are obtained by rigid alignments of separated corresponded segments. Experimental
result with simulated point clouds demonstrate that the concept of semi-rigid
registration works well.
关键词：Semi-Rigid Registration; Segmentation; Integer Programming; Rigid Alignment; Energy Minimization
