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Global optimal registration method of multi-viewpoint cloud data during optical three-dimensional measurement

A technology of three-dimensional measurement and global optimization, which is applied in the direction of measuring devices, image data processing, and optical devices, etc., can solve the problems of measurement deviation of public marking points, etc., and achieve a small amount of calculation, unlimited measurement range, and high reliability. Effect

Inactive Publication Date: 2012-05-02
HEILONGJIANG UNIVERSITY OF SCIENCE AND TECHNOLOGY
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to solve the problem of deviation in the measurement of public marker points in the feature marker point measurement method, and to provide a global optimization registration method for multi-view point cloud data in optical three-dimensional measurement

Method used

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  • Global optimal registration method of multi-viewpoint cloud data during optical three-dimensional measurement
  • Global optimal registration method of multi-viewpoint cloud data during optical three-dimensional measurement
  • Global optimal registration method of multi-viewpoint cloud data during optical three-dimensional measurement

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specific Embodiment approach 1

[0024] Specific implementation mode one: the following combination figure 1 This embodiment will be specifically described. A global optimization registration method for multi-view point cloud data in optical three-dimensional measurement, the method is based on a hardware system platform including an acquisition device and a computer control device, marking points are pasted on the object to be measured as characteristic mark points of the object to be measured, and the computer The control device controls the acquisition device to collect the measurement data information of the object to be measured from N viewpoints respectively, obtains two-dimensional measurement data of N groups of objects to be measured, extracts the two-dimensional measurement data of N groups of characteristic mark points of the object to be measured, and converts them to Restoring the three-dimensional measurement data of N groups of feature marker points of the object to be measured, wherein N is th...

specific Embodiment approach 2

[0040] Embodiment 2: This embodiment is a further limitation of the global optimization registration method for multi-view point cloud data in optical three-dimensional measurement described in Embodiment 1, and the acquisition device is a CCD camera.

specific Embodiment approach 3

[0041] Specific embodiment three: this embodiment is a further limitation of the global optimal registration method for multi-view point cloud data in optical three-dimensional measurement described in specific embodiment one. In step one, the rotation matrix described is a 3×3 matrix, the translation vector is a 3×1 vector, the unit quaternion is a 4×1 vector, and the coordinate transformation vector composed of the unit quaternion and the translation vector is a 7× A vector of 1.

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Abstract

The invention relates to a global optimal registration method of multi-viewpoint cloud data during optical three-dimensional measurement, belonging to the technical field of digital image processing and solving the problem of measured deviation of common mark points in a characteristic mark point measurement method. A data registration process comprises the following steps of: registering data tobe registered to target data to obtain registration result data, wherein the registration result data is used as the target data for next registration; selecting an ith viewpoint as a viewpoint to beregistered, wherein two-dimensional measurement data of an object to be measured of the viewpoint is used as data to be registered; then repeating the data registration process until all viewpoints are used as the viewpoints to be converted to finish data registration, wherein coordinate transformation vectors to be optimized are calculated by utilizing a bundle adjustment method in the registration process. The invention realizes the global optimal registration of the multi-viewpoint cloud data during the optical three-dimensional measurement and is suitable for three-dimensional measurementof objects to be measured.

Description

technical field [0001] The invention belongs to the technical field of digital image processing, and in particular relates to a global optimization registration method for multi-view point cloud data in optical three-dimensional measurement. Background technique [0002] Optical three-dimensional measurement is the cutting-edge technology of information optics research, which has the advantages of non-contact, non-destructive, fast data acquisition, and simple operation. Therefore, optical three-dimensional measurement technology is widely used in machine vision, automatic processing, industrial online inspection, product quality control, physical objects It has been widely used in profiling, biomedicine and other fields. However, due to the limitation of the measurement environment, the measured object and the measuring equipment itself, a single measurement can only obtain the data of a limited area of ​​the measured object. To obtain the complete data of the measured obje...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T17/00G01B11/24
Inventor 周波孟祥林何万涛赵灿
Owner HEILONGJIANG UNIVERSITY OF SCIENCE AND TECHNOLOGY