The virtual preassembly of super-high steel bridge towers faces a challenge in the efficient and precise extraction of complex cross-sectional features.Factors such as fabrication errors,gravity-induced deformations,a...The virtual preassembly of super-high steel bridge towers faces a challenge in the efficient and precise extraction of complex cross-sectional features.Factors such as fabrication errors,gravity-induced deformations,and temperature fluctuations can compromise the accuracy of contour extraction.To address these limitations,an improved Alpha-shape-based point cloud contour extraction method is proposed.The proposed approach uses a hierarchical strategy to process three-dimensional laser scanning point clouds.The processed data are then subjected to curvatureadaptive voxel filtering to reduce acquisition noise.In addition,an enhanced iterative closest point(ICP)variant with correspondence validation accurately aligns the discrete point cloud segments.The proposed curvature-responsive Alpha-shape framework enables multiscale contour delineation through topology-adaptive threshold modulation,which resolves boundary ambiguities in geometrically complex cross-sections.The method was experimentally validated using field-acquired measurement datasets from the Zhangjinggao Yangtze River Bridge tower segments,confirming its capability to reconstruct noncanonical cross-sectional geometries.Three contour extraction methods,including Poisson reconstruction,the conventional Alpha-shape algorithm,and random sample consensus with ICP(RANSAC-ICP),were compared to evaluate the performance of the proposed Alpha-shape algorithm.The results demonstrate that the proposed method achieves superior contour extraction accuracy and data reduction efficiency,highlighting its effectiveness in contour extraction tasks.展开更多
The exponential growth in the scale of power systems has led to a significant increase in the complexity of dispatch problem resolution,particularly within multi-area interconnected power grids.This complexity necessi...The exponential growth in the scale of power systems has led to a significant increase in the complexity of dispatch problem resolution,particularly within multi-area interconnected power grids.This complexity necessitates the employment of distributed solution methodologies,which are not only essential but also highly desirable.In the realm of computational modelling,the multi-area economic dispatch problem(MAED)can be formulated as a linearly constrained separable convex optimization problem.The proximal point algorithm(PPA)is particularly adept at addressing such mathematical constructs effectively.This study introduces parallel(PPPA)and serial(SPPA)variants of the PPA as distributed algorithms,specifically designed for the computational modelling of the MAED.The PPA introduces a quadratic term into the objective function,which,while potentially complicating the iterative updates of the algorithm,serves to dampen oscillations near the optimal solution,thereby enhancing the convergence characteristics.Furthermore,the convergence efficiency of the PPA is significantly influenced by the parameter c.To address this parameter sensitivity,this research draws on trend theory from stock market analysis to propose trend theory-driven distributed PPPA and SPPA,thereby enhancing the robustness of the computational models.The computational models proposed in this study are anticipated to exhibit superior performance in terms of convergence behaviour,stability,and robustness with respect to parameter selection,potentially outperforming existing methods such as the alternating direction method of multipliers(ADMM)and Auxiliary Problem Principle(APP)in the computational simulation of power system dispatch problems.The simulation results demonstrate that the trend theory-based PPPA,SPPA,ADMM and APP exhibit significant robustness to the initial value of parameter c,and show superior convergence characteristics compared to the residual balancing ADMM.展开更多
Recognizing discontinuities within rock masses is a critical aspect of rock engineering.The development of remote sensing technologies has significantly enhanced the quality and quantity of the point clouds collected ...Recognizing discontinuities within rock masses is a critical aspect of rock engineering.The development of remote sensing technologies has significantly enhanced the quality and quantity of the point clouds collected from rock outcrops.In response,we propose a workflow that balances accuracy and efficiency to extract discontinuities from massive point clouds.The proposed method employs voxel filtering to downsample point clouds,constructs a point cloud topology using K-d trees,utilizes principal component analysis to calculate the point cloud normals,and employs the pointwise clustering(PWC)algorithm to extract discontinuities from rock outcrop point clouds.This method provides information on the location and orientation(dip direction and dip angle)of the discontinuities,and the modified whale optimization algorithm(MWOA)is utilized to identify major discontinuity sets and their average orientations.Performance evaluations based on three real cases demonstrate that the proposed method significantly reduces computational time costs without sacrificing accuracy.In particular,the method yields more reasonable extraction results for discontinuities with certain undulations.The presented approach offers a novel tool for efficiently extracting discontinuities from large-scale point clouds.展开更多
针对小型或中等规模物体,在对配准精度要求较高且处理时间受限的场景下,采用两个配准算法叠加的策略,兼顾配准精度和运行效率,提出一种基于快速全局配准(Fast Global Registration,FGR)与点到面迭代最近点(Iterative Closest Point,ICP...针对小型或中等规模物体,在对配准精度要求较高且处理时间受限的场景下,采用两个配准算法叠加的策略,兼顾配准精度和运行效率,提出一种基于快速全局配准(Fast Global Registration,FGR)与点到面迭代最近点(Iterative Closest Point,ICP)相结合的点云配准方法。对点云进行体素下采样和法线估计以完成预处理;利用快速点特征直方图结合FGR实现粗配准,获得初始效果,且仅进行一次特征提取以提高效率;采用点到面点云精配准算法完成精配准。实验结果表明,所提方法在配准精度上优于其他3种对比算法,且运行时间显著缩短,具有稳定性。展开更多
We study the split common solution problem with multiple output sets for monotone operator equations in Hilbert spaces.To solve this problem,we propose two new parallel algorithms.We establish a weak convergence theor...We study the split common solution problem with multiple output sets for monotone operator equations in Hilbert spaces.To solve this problem,we propose two new parallel algorithms.We establish a weak convergence theorem for the first and a strong convergence theorem for the second.展开更多
In reliability analyses,the absence of a priori information on the most probable point of failure(MPP)may result in overlooking critical points,thereby leading to biased assessment outcomes.Moreover,second-order relia...In reliability analyses,the absence of a priori information on the most probable point of failure(MPP)may result in overlooking critical points,thereby leading to biased assessment outcomes.Moreover,second-order reliability methods exhibit limited accuracy in highly nonlinear scenarios.To overcome these challenges,a novel reliability analysis strategy based on a multimodal differential evolution algorithm and a hypersphere integration method is proposed.Initially,the penalty function method is employed to reformulate the MPP search problem as a conditionally constrained optimization task.Subsequently,a differential evolution algorithm incorporating a population delineation strategy is utilized to identify all MPPs.Finally,a paraboloid equation is constructed based on the curvature of the limit-state function at the MPPs,and the failure probability of the structure is calculated by using the hypersphere integration method.The localization effectiveness of the MPPs is compared through multiple numerical cases and two engineering examples,with accuracy comparisons of failure probabilities against the first-order reliability method(FORM)and the secondorder reliability method(SORM).The results indicate that the method effectively identifies existing MPPs and achieves higher solution precision.展开更多
This paper proposes two kinds of approximate proximal point algorithms （APPA） for monotone variational inequalities, both of which can be viewed as two extended versions of Solodov and Svaiter＇s APPA in the paper ...This paper proposes two kinds of approximate proximal point algorithms （APPA） for monotone variational inequalities, both of which can be viewed as two extended versions of Solodov and Svaiter＇s APPA in the paper ＂Error bounds for proximal point subproblems and associated inexact proximal point algorithms＂ published in 2000. They are both prediction- correction methods which use the same inexactness restriction; the only difference is that they use different search directions in the correction steps. This paper also chooses an optimal step size in the two versions of the APPA to improve the profit at each iteration. Analysis also shows that the two APPAs are globally convergent under appropriate assumptions, and we can expect algorithm 2 to get more progress in every iteration than algorithm 1. Numerical experiments indicate that algorithm 2 is more efficient than algorithm 1 with the same correction step size,展开更多
The iterative closest point(ICP)algorithm has the advantages of high accuracy and fast speed for point set registration,but it performs poorly when the point set has a large number of noisy outliers.To solve this prob...The iterative closest point(ICP)algorithm has the advantages of high accuracy and fast speed for point set registration,but it performs poorly when the point set has a large number of noisy outliers.To solve this problem,we propose a new affine registration algorithm based on correntropy which works well in the affine registration of point sets with outliers.Firstly,we substitute the traditional measure of least squares with a maximum correntropy criterion to build a new registration model,which can avoid the influence of outliers.To maximize the objective function,we then propose a robust affine ICP algorithm.At each iteration of this new algorithm,we set up the index mapping of two point sets according to the known transformation,and then compute the closed-form solution of the new transformation according to the known index mapping.Similar to the traditional ICP algorithm,our algorithm converges to a local maximum monotonously for any given initial value.Finally,the robustness and high efficiency of affine ICP algorithm based on correntropy are demonstrated by 2D and 3D point set registration experiments.展开更多
Sea ice concentration is an important parameter for polar sea ice monitoring. Based on 89 GHz AMSR-E （Advanced Microwave Scanning Radiometer for Earth Observing System） data, a gridded high-resolution passive microw...Sea ice concentration is an important parameter for polar sea ice monitoring. Based on 89 GHz AMSR-E （Advanced Microwave Scanning Radiometer for Earth Observing System） data, a gridded high-resolution passive microwave sea ice concentration product can be obtained using the ASI （the Arctic Radiation And Turbulence Interaction Study （ARTIST） Sea Ice） retrieval algorithm. Instead of using fixed-point values, we developed ASi algorithm based on daily changed tie points, called as the dynamic tie point ASI algorithm in this study. Here the tie points are expressed as the brightness temperature polarization difference of open water and 100% sea ice. In 2010, the yearly-averaged tie points of open water and sea ice in Arctic are estimated to be 50.8 K and 7.8 K, respectively. It is confirmed that the sea ice concentrations retrieved by the dynamic tie point ASI algorithm can increase （decrease） the sea ice concentrations in low-value （high-value） areas. This improved the sea ice concentrations by present retrieval algorithm from microwave data to some extent. Comparing with the products using fixed tie points, the sea ice concentrations retrieved from AMSR-E data by using the dynamic tie point ASI algorithm are closer to those obtained from MODIS （Moderate-resolution Imaging Spectroradiometer） data. In 40 selected cloud-free sample regions, 95% of our results have smaller mean differences and 75% of our results have lower root mean square （RMS） differences compare with those by the fixed tie points.展开更多
Aimed at the problems of a traditional ant colony algorithm,such as the path search direction and field of view,an inability to find the shortest path,a propensity toward deadlock and an unsmooth path,an ant colony al...Aimed at the problems of a traditional ant colony algorithm,such as the path search direction and field of view,an inability to find the shortest path,a propensity toward deadlock and an unsmooth path,an ant colony algorithm for use in a new environment is proposed.First,the feature points of an obstacle are extracted to preprocess the grid map environment,which can avoid entering a trap and solve the deadlock problem.Second,these feature points are used as pathfinding access nodes to reduce the node access,with more moving directions to be selected,and the locations of the feature points to be selected determine the range of the pathfinding field of view.Then,based on the feature points,an unequal distribution of pheromones and a two-way parallel path search are used to improve the construction efficiency of the solution,an improved heuristic function is used to enhance the guiding role of the path search,and the pheromone volatilization coefficient is dynamically adjusted to avoid a premature convergence of the algorithm.Third,a Bezier curve is used to smooth the shortest path obtained.Finally,using grid maps with a different complexity and different scales,a simulation comparing the results of the proposed algorithm with those of traditional and other improved ant colony algorithms verifies its feasibility and superiority.展开更多
For the large sparse saddle point problems, Pan and Li recently proposed in [H. K. Pan, W. Li, Math. Numer. Sinica, 2009, 31（3）： 231-242] a corrected Uzawa algorithm based on a nonlinear Uzawa algorithm with two no...For the large sparse saddle point problems, Pan and Li recently proposed in [H. K. Pan, W. Li, Math. Numer. Sinica, 2009, 31（3）： 231-242] a corrected Uzawa algorithm based on a nonlinear Uzawa algorithm with two nonlinear approximate inverses, and gave the detailed convergence analysis. In this paper, we focus on the convergence analysis of this corrected Uzawa algorithm, some inaccuracies in [H. K. Pan, W. Li, Math. Numer. Sinica, 2009, 31（3）： 231-242] are pointed out, and a corrected convergence theorem is presented. A special case of this modified Uzawa algorithm is also discussed.展开更多
As point cloud of one whole vehicle body has the traits of large geometric dimension,huge data and rigorous reverse precision,one pretreatment algorithm on automobile body point cloud is put forward.The basic idea of ...As point cloud of one whole vehicle body has the traits of large geometric dimension,huge data and rigorous reverse precision,one pretreatment algorithm on automobile body point cloud is put forward.The basic idea of the registration algorithm based on the skeleton points is to construct the skeleton points of the whole vehicle model and the mark points of the separate point cloud,to search the mapped relationship between skeleton points and mark points using congruence triangle method and to match the whole vehicle point cloud using the improved iterative closed point(ICP)algorithm.The data reduction algorithm,based on average square root of distance,condenses data by three steps,computing datasets'average square root of distance in sampling cube grid,sorting order according to the value computed from the first step,choosing sampling percentage.The accuracy of the two algorithms above is proved by a registration and reduction example of whole vehicle point cloud of a certain light truck.展开更多
基金The National Natural Science Foundation of China(No.52338011)the Start-up Research Fund of Southeast University(No.RF1028624058)+1 种基金the Southeast University Interdisciplinary Research Program for Young Scholarsthe National Key Research and Development Program of China(No.2024YFC3014103).
文摘The virtual preassembly of super-high steel bridge towers faces a challenge in the efficient and precise extraction of complex cross-sectional features.Factors such as fabrication errors,gravity-induced deformations,and temperature fluctuations can compromise the accuracy of contour extraction.To address these limitations,an improved Alpha-shape-based point cloud contour extraction method is proposed.The proposed approach uses a hierarchical strategy to process three-dimensional laser scanning point clouds.The processed data are then subjected to curvatureadaptive voxel filtering to reduce acquisition noise.In addition,an enhanced iterative closest point(ICP)variant with correspondence validation accurately aligns the discrete point cloud segments.The proposed curvature-responsive Alpha-shape framework enables multiscale contour delineation through topology-adaptive threshold modulation,which resolves boundary ambiguities in geometrically complex cross-sections.The method was experimentally validated using field-acquired measurement datasets from the Zhangjinggao Yangtze River Bridge tower segments,confirming its capability to reconstruct noncanonical cross-sectional geometries.Three contour extraction methods,including Poisson reconstruction,the conventional Alpha-shape algorithm,and random sample consensus with ICP(RANSAC-ICP),were compared to evaluate the performance of the proposed Alpha-shape algorithm.The results demonstrate that the proposed method achieves superior contour extraction accuracy and data reduction efficiency,highlighting its effectiveness in contour extraction tasks.
基金funded by Guangxi Science and Technology Base and Talent Special Project,grant number GuiKeAD20159077Foundation of Guilin University of Technology,grant number GLUTQD2018001.
文摘The exponential growth in the scale of power systems has led to a significant increase in the complexity of dispatch problem resolution,particularly within multi-area interconnected power grids.This complexity necessitates the employment of distributed solution methodologies,which are not only essential but also highly desirable.In the realm of computational modelling,the multi-area economic dispatch problem(MAED)can be formulated as a linearly constrained separable convex optimization problem.The proximal point algorithm(PPA)is particularly adept at addressing such mathematical constructs effectively.This study introduces parallel(PPPA)and serial(SPPA)variants of the PPA as distributed algorithms,specifically designed for the computational modelling of the MAED.The PPA introduces a quadratic term into the objective function,which,while potentially complicating the iterative updates of the algorithm,serves to dampen oscillations near the optimal solution,thereby enhancing the convergence characteristics.Furthermore,the convergence efficiency of the PPA is significantly influenced by the parameter c.To address this parameter sensitivity,this research draws on trend theory from stock market analysis to propose trend theory-driven distributed PPPA and SPPA,thereby enhancing the robustness of the computational models.The computational models proposed in this study are anticipated to exhibit superior performance in terms of convergence behaviour,stability,and robustness with respect to parameter selection,potentially outperforming existing methods such as the alternating direction method of multipliers(ADMM)and Auxiliary Problem Principle(APP)in the computational simulation of power system dispatch problems.The simulation results demonstrate that the trend theory-based PPPA,SPPA,ADMM and APP exhibit significant robustness to the initial value of parameter c,and show superior convergence characteristics compared to the residual balancing ADMM.
基金supported by the National Natural Science Foundation of China(Grant No.42407232)the Sichuan Science and Technology Program(Grant No.2024NSFSC0826).
文摘Recognizing discontinuities within rock masses is a critical aspect of rock engineering.The development of remote sensing technologies has significantly enhanced the quality and quantity of the point clouds collected from rock outcrops.In response,we propose a workflow that balances accuracy and efficiency to extract discontinuities from massive point clouds.The proposed method employs voxel filtering to downsample point clouds,constructs a point cloud topology using K-d trees,utilizes principal component analysis to calculate the point cloud normals,and employs the pointwise clustering(PWC)algorithm to extract discontinuities from rock outcrop point clouds.This method provides information on the location and orientation(dip direction and dip angle)of the discontinuities,and the modified whale optimization algorithm(MWOA)is utilized to identify major discontinuity sets and their average orientations.Performance evaluations based on three real cases demonstrate that the proposed method significantly reduces computational time costs without sacrificing accuracy.In particular,the method yields more reasonable extraction results for discontinuities with certain undulations.The presented approach offers a novel tool for efficiently extracting discontinuities from large-scale point clouds.
文摘针对小型或中等规模物体,在对配准精度要求较高且处理时间受限的场景下,采用两个配准算法叠加的策略,兼顾配准精度和运行效率,提出一种基于快速全局配准(Fast Global Registration,FGR)与点到面迭代最近点(Iterative Closest Point,ICP)相结合的点云配准方法。对点云进行体素下采样和法线估计以完成预处理;利用快速点特征直方图结合FGR实现粗配准,获得初始效果,且仅进行一次特征提取以提高效率;采用点到面点云精配准算法完成精配准。实验结果表明,所提方法在配准精度上优于其他3种对比算法,且运行时间显著缩短,具有稳定性。
基金supported by the Science and Technology Fund of TNU-Thai Nguyen University of Science.
文摘We study the split common solution problem with multiple output sets for monotone operator equations in Hilbert spaces.To solve this problem,we propose two new parallel algorithms.We establish a weak convergence theorem for the first and a strong convergence theorem for the second.
基金National Natural Science Foundation of China(No.52375236)Fundamental Research Funds for the Central Universities of China(No.23D110316)。
文摘In reliability analyses,the absence of a priori information on the most probable point of failure(MPP)may result in overlooking critical points,thereby leading to biased assessment outcomes.Moreover,second-order reliability methods exhibit limited accuracy in highly nonlinear scenarios.To overcome these challenges,a novel reliability analysis strategy based on a multimodal differential evolution algorithm and a hypersphere integration method is proposed.Initially,the penalty function method is employed to reformulate the MPP search problem as a conditionally constrained optimization task.Subsequently,a differential evolution algorithm incorporating a population delineation strategy is utilized to identify all MPPs.Finally,a paraboloid equation is constructed based on the curvature of the limit-state function at the MPPs,and the failure probability of the structure is calculated by using the hypersphere integration method.The localization effectiveness of the MPPs is compared through multiple numerical cases and two engineering examples,with accuracy comparisons of failure probabilities against the first-order reliability method(FORM)and the secondorder reliability method(SORM).The results indicate that the method effectively identifies existing MPPs and achieves higher solution precision.
文摘This paper proposes two kinds of approximate proximal point algorithms （APPA） for monotone variational inequalities, both of which can be viewed as two extended versions of Solodov and Svaiter＇s APPA in the paper ＂Error bounds for proximal point subproblems and associated inexact proximal point algorithms＂ published in 2000. They are both prediction- correction methods which use the same inexactness restriction; the only difference is that they use different search directions in the correction steps. This paper also chooses an optimal step size in the two versions of the APPA to improve the profit at each iteration. Analysis also shows that the two APPAs are globally convergent under appropriate assumptions, and we can expect algorithm 2 to get more progress in every iteration than algorithm 1. Numerical experiments indicate that algorithm 2 is more efficient than algorithm 1 with the same correction step size,
基金supported in part by the National Natural Science Foundation of China(61627811,61573274,61673126,U1701261)
文摘The iterative closest point(ICP)algorithm has the advantages of high accuracy and fast speed for point set registration,but it performs poorly when the point set has a large number of noisy outliers.To solve this problem,we propose a new affine registration algorithm based on correntropy which works well in the affine registration of point sets with outliers.Firstly,we substitute the traditional measure of least squares with a maximum correntropy criterion to build a new registration model,which can avoid the influence of outliers.To maximize the objective function,we then propose a robust affine ICP algorithm.At each iteration of this new algorithm,we set up the index mapping of two point sets according to the known transformation,and then compute the closed-form solution of the new transformation according to the known index mapping.Similar to the traditional ICP algorithm,our algorithm converges to a local maximum monotonously for any given initial value.Finally,the robustness and high efficiency of affine ICP algorithm based on correntropy are demonstrated by 2D and 3D point set registration experiments.
基金The Global Change Research Program of China under contract No.2015CB953901the National Natural Science Foundation of China under contract Nos 41330960 and 41276193
文摘Sea ice concentration is an important parameter for polar sea ice monitoring. Based on 89 GHz AMSR-E （Advanced Microwave Scanning Radiometer for Earth Observing System） data, a gridded high-resolution passive microwave sea ice concentration product can be obtained using the ASI （the Arctic Radiation And Turbulence Interaction Study （ARTIST） Sea Ice） retrieval algorithm. Instead of using fixed-point values, we developed ASi algorithm based on daily changed tie points, called as the dynamic tie point ASI algorithm in this study. Here the tie points are expressed as the brightness temperature polarization difference of open water and 100% sea ice. In 2010, the yearly-averaged tie points of open water and sea ice in Arctic are estimated to be 50.8 K and 7.8 K, respectively. It is confirmed that the sea ice concentrations retrieved by the dynamic tie point ASI algorithm can increase （decrease） the sea ice concentrations in low-value （high-value） areas. This improved the sea ice concentrations by present retrieval algorithm from microwave data to some extent. Comparing with the products using fixed tie points, the sea ice concentrations retrieved from AMSR-E data by using the dynamic tie point ASI algorithm are closer to those obtained from MODIS （Moderate-resolution Imaging Spectroradiometer） data. In 40 selected cloud-free sample regions, 95% of our results have smaller mean differences and 75% of our results have lower root mean square （RMS） differences compare with those by the fixed tie points.
基金the National Natural Science Founda-tion(Nos.62063019 and 61763026)the Gansu Nat-ural Science Foundation Project(No.20JR10RA152)the Gansu Provincial Department of Educa-tion:Excellent Graduate“Innovation Star”Project(No.2021CXZX-507)。
文摘Aimed at the problems of a traditional ant colony algorithm,such as the path search direction and field of view,an inability to find the shortest path,a propensity toward deadlock and an unsmooth path,an ant colony algorithm for use in a new environment is proposed.First,the feature points of an obstacle are extracted to preprocess the grid map environment,which can avoid entering a trap and solve the deadlock problem.Second,these feature points are used as pathfinding access nodes to reduce the node access,with more moving directions to be selected,and the locations of the feature points to be selected determine the range of the pathfinding field of view.Then,based on the feature points,an unequal distribution of pheromones and a two-way parallel path search are used to improve the construction efficiency of the solution,an improved heuristic function is used to enhance the guiding role of the path search,and the pheromone volatilization coefficient is dynamically adjusted to avoid a premature convergence of the algorithm.Third,a Bezier curve is used to smooth the shortest path obtained.Finally,using grid maps with a different complexity and different scales,a simulation comparing the results of the proposed algorithm with those of traditional and other improved ant colony algorithms verifies its feasibility and superiority.
基金Supported by the National Natural Science Foundation of China(11201422)the Natural Science Foundation of Zhejiang Province(Y6110639,LQ12A01017)
文摘For the large sparse saddle point problems, Pan and Li recently proposed in [H. K. Pan, W. Li, Math. Numer. Sinica, 2009, 31（3）： 231-242] a corrected Uzawa algorithm based on a nonlinear Uzawa algorithm with two nonlinear approximate inverses, and gave the detailed convergence analysis. In this paper, we focus on the convergence analysis of this corrected Uzawa algorithm, some inaccuracies in [H. K. Pan, W. Li, Math. Numer. Sinica, 2009, 31（3）： 231-242] are pointed out, and a corrected convergence theorem is presented. A special case of this modified Uzawa algorithm is also discussed.
基金This project is supported by Provincial Technology Cooperation Program of Yunnan,China(No.2003EAAAA00D043).
文摘As point cloud of one whole vehicle body has the traits of large geometric dimension,huge data and rigorous reverse precision,one pretreatment algorithm on automobile body point cloud is put forward.The basic idea of the registration algorithm based on the skeleton points is to construct the skeleton points of the whole vehicle model and the mark points of the separate point cloud,to search the mapped relationship between skeleton points and mark points using congruence triangle method and to match the whole vehicle point cloud using the improved iterative closed point(ICP)algorithm.The data reduction algorithm,based on average square root of distance,condenses data by three steps,computing datasets'average square root of distance in sampling cube grid,sorting order according to the value computed from the first step,choosing sampling percentage.The accuracy of the two algorithms above is proved by a registration and reduction example of whole vehicle point cloud of a certain light truck.
