Pose computation method for point cloud position of non-cooperative target

A non-cooperative target and calculation method technology, applied in the field of non-cooperative target point cloud position and attitude calculation, can solve the problems of non-cooperative target point cloud acquisition, scanning range limitation, and inability to obtain accurate solutions, etc., to achieve high attitude accuracy , calculation flexibility, high precision effect

Active Publication Date: 2018-11-23
BEIJING INST OF CONTROL ENG
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Problems solved by technology

[0007] In the attitude calculation of the point cloud of non-cooperative targets in space, due to the limitation of the scanning range, the point clouds of some non-coopera

Method used

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  • Pose computation method for point cloud position of non-cooperative target

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Embodiment 1

[0060] Step (1), scan the non-cooperative target to obtain the scanned point cloud, and in the camera coordinate system, obtain the mean values ​​of the positions of all scanned points in the scanned point cloud in the x-axis, y-axis, and z-axis directions respectively x 0 、y 0 ,z 0 , and at the same time set the roll angle α, yaw angle β, and pitch angle γ of all scan points of the scan point cloud to 0°, 0°, and 0°, respectively. The target shape point cloud is stored in the processor memory for registration with the scanned point cloud. The position coordinates of the target shape point cloud in the camera coordinate system are 0, 0, 0, and the attitude is 0°, 0°, 0°.

[0061] Step (2), translate the position coordinates of the target shape point cloud along the x-axis in the camera coordinate system by x 0 , translate y along the y axis 0 , translate z along the z axis 0 , and then rotate the pitch angle of the point cloud of the target shape along the x-axis by a -α a...

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Abstract

The invention discloses a pose computation method for point cloud position of non-cooperative target. According to the method, the optimal matching path is searched synchronously from different initial parameters. Finally the overall optimal matching result is obtained by final comparison. The precision of the computation result of the overall position pose is high. According to the invention, aiming at the incomplete condition of the cloud point information of the non-cooperative target, model translation is adopted to carry out different spot matching. Even if only a pat of point cloud is scanned, the method can obtain the optimal configuration effect as well. The overall position pose computation result is ensured to be accurate. The robustness is high.

Description

technical field [0001] The invention relates to a method for calculating the position and attitude of a point cloud of a non-cooperative target. Background technique [0002] The 3D laser scanning technology can quickly obtain the spatial position coordinates of each sampling point on the surface of the object, and obtain a set of points representing the entity, which is called "point cloud". The angle information of each point in the point cloud is obtained by oscillating the mirror, and the distance is obtained by laser time-of-flight measurement. The three-dimensional coordinate information of each point can be calculated through the distance and angle information. The 3D model point cloud of the target has been stored. After the scanned point cloud is obtained, the model point cloud and the scanned point cloud are registered to obtain the initial pose of the scanned point cloud. [0003] In the dissertation "Research on Model-Based Global Point Cloud Registration Metho...

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Application Information

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IPC IPC(8): G06T7/80G06T7/33
CPCG06T2207/10028G06T7/33G06T7/80
Inventor 王立刘达顾营迎李涛张春明吴云
Owner BEIJING INST OF CONTROL ENG
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