Multiple-view measurement data self-matching method based on attitude sensor

Abstract

The invention discloses a multiple-view measurement data self-matching method based on an attitude sensor, which belongs to the filed of three-dimensional sensing and measuring. The attitude sensor is fixed on a measuring device, the position of a measured object keeps unchangeable during multiple measurement, and the positions of the attitude sensor and the measuring device keep relatively unchangeable. The multiple-view measurement data self-matching method comprises the following steps: calibrating rotation transformation matrixes of the attitude sensor and the measuring device between respective coordinate frames by using calibration objects, automatically obtaining the self rotation transformation matrix according to the attitude sensor, calculating the rotation transformation of thecoordinate frame of the measuring device when in measurement every time, performing the corresponding rotation transformation to the measurement data every time, calculating the translation transformation of the measurement data under different views by adopting a clustering method according to the principle of same data node normal direction at an overlap region, so as to realize the multiple-view measurement data self-matching. The invention has the advantages of simple structure of used devices, low cost, flexibility, reliability and easy implementation.

Description

technical field [0001] The invention relates to a three-dimensional contour measurement system, in particular to a method for adding attitude sensors to the three-dimensional contour measurement system to realize multi-angle measurement data self-assembly, belonging to the field of three-dimensional sensing and measurement. Background technique [0002] The measurement of three-dimensional profile data has a wide range of application requirements in the fields of aerospace, vehicles and ships, machinery manufacturing, biomedicine, textiles and clothing, and industrial design. Various measurement methods based on mechanical, optical, acoustic, and electromagnetic principles have made great progress, especially optical non-contact measurement methods represented by laser scanning methods, interferometry and structured light methods have achieved commercial applications in many fields . However, various three-dimensional profile measurement methods can only obtain surface data...

AI Technical Summary

Problems solved by technology

However, since the attitude angle sensor with a small structure cannot perceive its own translation, and the attitude angle sensor coordinate system has its own coordinate system, to realize this idea, it is necessary to solve the relationship calibration between the attitude sensor coordinate system and the measurement system coordinate system , the translation vector solution between the measurement data sets under the determination of the rotation relationship, etc.

No related method has been found so far

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