## 3D点云点特征直方图计算方法研究

本文详细地描述了点特征直方图的原理，包括算法和复杂度分析。同时本文还给出PFH算法的具体实现，并在图像集上进行实验，以展示PFH算法的具体特性。最后，本文介绍了PFH算法在扩展和应用方面的研究情况。

Title       Persistent Point Feature Histograms  for  3D Point Clouds
Abstract
Point feature is the basic feature of an image,it refers to those points whose grey scale signals are obviously varied in 2-dimensional directions,such as angular points ,round dots and so on.Point feature can be applied to such as image registration and matching, object description and recognition, beam calculation,moving object tracking and recognition, stereo image modeling for 3D and many other fields. Using feature points for processing, can reduce the amount of data involved in the computation, and does not damage the image of gray information. It can greatly improve the matching speed in the matching operation. Using persistent feature histograms provides a novel way of characterizing the local geometry of 3D points. The algorithm can provide more accurate information feature and feature extraction, and has strong robustness in noisy environments. 源￥自%六^^维*论-文+网=www.lwfree.cn
This paper describes in detail the principle of PFH (Point Feature Histogram) algorithm, including algorithms and complexity analysis. At the same time, this paper presents the implementation of PFH algorithm, and experiments are carried out in the image set, to show the specific characteristics of the PFH algorithm.Finally, this paper introduces the research situation of PFH algorithm in the application and extension ofthe.
Keywords：Keywords. persistent feature histograms, point clouds, geometric reasoning

1  引言 1
1.1  研究背景与意义 1
1.2  点特征直方图研究现状 1
1.2.1  采用平滑约束的点云分割 2
1.2.2  嘈杂点云中估计点云法线 2
1.2.3  对采样点表面的多尺度特征提取 2
1.2.4  采用局部直方图识别3D对象 3
1.2.5表面点对的处理 3
1.3本文的安排3
2点特征直方图算法的原理与实现 4
2.1  PFH算法 4
2.1.1  算法 4
2.1.2  估计表面法线 4
2.1.3  计算PFH特征 6
2.1.4  距离度量公式 8
2.2 PFH算法实现 11
2.2.1  程序结构 11
2.2.2  程序流程 11
2.2.3  实验结果与分析 12
3 PFH算法的扩展 13
3.1  FPFH介绍 13
3.1.1  FPFH 14
3.1.2 FPFH算法 15
3.1.3 FPFH结果 16
3.2  PFH和FPFH区别 16

1  引言（或绪论）
1.1  研究背景与意义

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