Point-cloud model and CAD model registering method based on detection features

A technology for detecting features and point cloud models, applied in image data processing, instruments, calculations, etc., can solve problems such as insufficient stability, insufficient registration accuracy, and low registration efficiency

Active Publication Date: 2016-10-12
COMAC +1
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Problems solved by technology

[0007] The technical problem to be solved by the present invention is to overcome the defects of excessive calculation, low registration efficiency, insufficient registration accuracy and insufficient stability of the registration method in the prior art, and propose a point cloud based on detection features. Registration Method of Model and CAD Model

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  • Point-cloud model and CAD model registering method based on detection features

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Embodiment Construction

[0048] The preferred embodiments of the present invention are given below in conjunction with the accompanying drawings to describe the technical solution of the present invention in detail, but the present invention is not limited to the scope of the described embodiments.

[0049] In the present invention, the representations of points, center of gravity, normal vector, etc. that appear in the parts related to calculation and related formulas should be understood as vector representations, and calculations involving points, center of gravity, normal vector, etc. should be understood as calculations for vectors , unless explicitly stated otherwise or it is obvious that scalars are involved or computed on scalars.

[0050] refer to figure 1 As shown, the registration method of a point cloud model based on detection features and a CAD model according to a preferred embodiment of the present invention, wherein the point cloud model involved can be a point cloud model obtained by...

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Abstract

The invention discloses a point-cloud model and CAD model registering method based on detection features. The registering method comprises the following steps: selecting Gauss curvature abrupt change points from a point-cloud model to form an initial registering control point set, and solving a corresponding matching point set on a CAD model; according to constraint conditions, finding three matching point pairs from the two point sets; according to the matching point pairs, solving an initial translation matrix and an initial rotation matrix; segmenting the CAD model into standard graphs, and according to detection feature point arrangement rules of the standard graphs, acquiring points from the CAD model to form a detection feature point set; by use of the initial rotation matrix and the initial translation matrix, acting on all points of the point-cloud model so as to form a point-cloud point set after conversion; and for the point-cloud point set and the detection feature point set, searching for a rotation matrix and a translation matrix which accurately register with each other by use of an ICP algorithm. The registering method takes both a registering speed and registering precision into consideration, and improves robustness of accurate registering.

Description

technical field [0001] The technical field of part digital detection of the present invention, in particular, relates to a registration method between a point cloud model and a CAD model based on detection features. Background technique [0002] In recent years, with the wide application of digital testing equipment such as three-coordinate measuring machines, laser scanners, and CT measuring instruments in the industrial field, digital testing technology has played a vital role in the dimension measurement and manufacturing accuracy assurance of large and complex parts. effect. For example, digital inspection plays an important role in the fields of aircraft skin shape inspection, rocket body manufacturing accuracy inspection, and cabin maintenance inspection. [0003] Usually, the measurement accuracy of the point cloud model obtained by digital inspection equipment can generally meet the actual measurement requirements. However, since the point cloud model and the CAD mo...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
CPCG06T2207/10028
Inventor 姜丽萍丁力平方伟刘思仁李苗
Owner COMAC
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