Rapid and accurate registration method of dense point cloud model

A precise registration and dense point cloud technology, applied in the field of coordinate systems, can solve problems such as registration accuracy and registration speed, and achieve the effect of both registration accuracy and registration speed and fast registration

Inactive Publication Date: 2011-08-31
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

[0005] In order to overcome the shortcomings of existing technologies that cannot balance both registration accuracy and registration speed, the present invention provides a fast registration method for dense point cloud models, which has the advantages of ensuring registration accuracy and improving registration speed

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  • Rapid and accurate registration method of dense point cloud model
  • Rapid and accurate registration method of dense point cloud model

Examples

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Embodiment Construction

[0025] The following combines a dense point cloud model of a turbine blade (1392396 points) and a CAD model (see figure 2 ), set forth in detail the operating steps of the present invention.

[0026] step 1

[0027] The initial registration of the dense point cloud model of the turbine blade and the CAD model is realized by the alignment method, and any three sets of corresponding point pairs (P 1 , Q 1 ), (P 2 , Q 2 ), (P 3 , Q 3 ), where P 1 , P 2 , P 3 not on the same plane. make as vector v 3 and w 3 , make vector vector v 2 and w 2 , v 1 , v 2 and v 3 form an orthogonal coordinate system, expressed as a unit vector empathy Measure any point P in the point cloud model i Transform to the corresponding point Q i The relational expression is: Q i =RP i +T, where R=[w][v] -1 , T=Q 1-[w][v] -1 P 1 . see results Figure 4 (a).

[0028] step 2

[0029] Properly simplify the initial registration point cloud data obtained in step 1, use the ...

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Abstract

The invention discloses a rapid and accurate registration method of a dense point cloud model, comprising the following steps of: realizing the initial registration of a turbine blade dense point cloud model and a CAD (Computer-Aided Design) model through an alignment method; appropriately simplifying the obtained initially registered point cloud data; computing the rotation matrix and the translation matrix of each iteration in an SVD-ICP (Singular Value Decomposition-Iterative Closet Point) algorithm; and finally realizing the accurate registration of a control point set {P} and the CAD model by adopting the SVD-ICP algorithm. In the invention, under the premise of realizing the pre-registration of the point cloud model and the CAD model, the dense point cloud data are simplified; the simplified data are taken as a registered control point set; the total rotation matrix and the translation matrix are computed on the basis of the SVD-ICP algorithm; and the computed total transformation matrixes are applied to the original dense point cloud before the simplification so that the rapid registration of the dense point cloud and the CAD model is realized and the registration accuracy and the registration speed are considered simultaneously.

Description

technical field [0001] The present invention relates to a method of a coordinate system, in particular to a method for rapid and accurate registration of a three-dimensional dense point cloud model and a CAD model, which is applicable to the registration of three-dimensional dense point cloud models of components in the fields of medicine, aerospace, weapons, etc. allow. Background technique [0002] The registration of the turbine blade point cloud model mainly refers to the spatial transformation of the measured point cloud model relative to the CAD design model, that is, to realize the unification of the coordinate system. At present, in many fields, dimensional inspection and measurement analysis technology play a vital role in improving the manufacturing shape, dimensional accuracy and quality assurance. Common measurement methods include three-coordinate measurement, optical scanning measurement and CT measurement. In recent years, with the development of laser techn...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
Inventor 程云勇卜昆张定华黄胜利董一巍黄魁东张现东窦杨柳刘金钢杨小宁袁帅傅蒋威周丽敏乔燕张亮
Owner NORTHWESTERN POLYTECHNICAL UNIV
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