Abstract：To solve the problems of complicated calculation and limited breakdown points of traditional localization methods in point cloud registration, we propose a fast and robust spherical target positioning method. Firstly,combines the weighted Hyper method and least trimmed squares, introduces truncation parameters. Then, obtains a subset by sampling, and minimizes the sum of squared faithful distances of point clouds in the subset to finally obtain fast and robust estimated spherical parameters. The results show that the proposed algorithm can obtain accurate spherical center coordinates. Compared with the robust total least squares and M-estimator, the proposed algorithm significantly improves the breakdown point and the calculation efficiency.
