中文摘要：

提出一种基于曲面拟合的精确拼接ICP算法——双向插补点到面ICP算法。对经过粗拼接大致对准到同一坐标系下的两片点云，首先对其重叠区域进行B样条曲面拟合，使用插补出的点确立初始对应点集；使用“辅助点对”约束并结合曲率约束去除错误对应点对。该方法将刚性运动一致性与几何特征不变性相结合以提高确立对应点集的正确率；对最终确立的对应点集，使用最小二乘法进行坐标变换迭代求解。应用实例表明，该方法实现了较高的拼接精度，便于实际应用。

英文摘要：

A high--accuracy method was presented for fine registration of two partially overlapping point clouds that had been coarsely registered into a common coordinate system in reverse engineering. The proposed algorithm, which was called dual interpolating point--to--surface ICP algorithm, was principally a modified variant of point--to--surface ICP algorithm. The original correspondences were established by adopting a dual surface fitting approach using B--spline interpolation. A novel ＂auxiliary pair＂ constraint, together with surface curvature information, were employed to remove unreliable matches. The combined constraints directly utilized global rigid motion consistency in conjunction with local geometric invariant to reject false correspondences precisely and efficiently. For the two refined corresponding datasets, the least--square method was employed to solve the transformation parameters. The experimental results demonstrate that the new method guarantees accurate fine registration for 3D point clouds.