An accurate registration method of point cloud based on an adaptive threshold
An adaptive threshold, accurate registration technology, applied in the field of 3D measurement, can solve problems such as accurate registration failure, and achieve the effects of improving registration efficiency, good results, and fast convergence.
Inactive Publication Date: 2018-12-11
WUHAN POWER3D TECH
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[0005] In view of the technical problems existing in the prior art, the object of the present invention is to provide a point cloud precise registration method based on an adaptive threshold, which can effectively solve the problem of the 3D point cloud acquired by automatic detection in industrial production and the industrial design. The problem of precise registration failure of CAD model due to irrelevant background data
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[0034] The following examples are presented to illustrate certain embodiments of the invention and should not be construed as limiting the scope of the invention. The content disclosed in the present invention can be improved simultaneously from materials, methods and reaction conditions, and all these improvements should fall within the spirit and scope of the present invention.
[0035] Such as figure 1 As shown, the point cloud precise registration method of adaptive threshold value in a preferred embodiment of the present invention, wherein the measurement point cloud model involved can be a point cloud model obtained by measuring any component, product or device, the following describes the The registration method of the preferred embodiment is exemplarily described.
[0036] 1. Obtain the measurement point cloud and CAD model point cloud of the workpiece to be tested
[0037]First, use a 3D scanner to scan the surface of the object and the CAD model from different angl...
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The invention belongs to the technical field of three-dimensional measurement, in particular to an accurate registration method of point cloud based on an adaptive threshold in an industrial automaticdetection process. The method comprises the following steps: 1) obtaining a measurement point cloud of a workpiece to be measured and a CAD model point cloud; 2) carrying out point cloud pre-processing, including establishing a kd-tree and setting convergence conditions; 3) using the calculated adaptive threshold to eliminate the influence of the irrelevant data, and performing rigid transformation on the measurement point cloud to achieve the purpose of accurate registration. The point cloud accurate registration method of the self-adaptive threshold of the invention can complete the accurate registration of the measured point cloud and the CAD model in the industrial detection process based on the self-adaptive threshold, meanwhile, the method can effectively distinguish the irrelevantbackground data, gradually reduces the calculation amount in the process, and therefore remarkably improves the registration efficiency. The method of the invention has high robustness in an industrial automated detection environment.
Description
technical field [0001] The invention belongs to the technical field of three-dimensional measurement, and in particular relates to a point cloud precise registration method based on an adaptive threshold in an industrial automatic detection process. Background technique [0002] With the development of three-dimensional measurement technology, the measurement accuracy of three-dimensional measurement equipment is getting higher and higher, and the measurement speed is also faster and faster. The digital three-dimensional inspection method based on the comparative analysis of the measurement model and the CAD model has become the main trend of the industrial inspection industry. In this detection method, after the three-dimensional point cloud data on the surface of the workpiece to be measured is obtained by the three-dimensional measuring device, it is necessary to align the measurement point cloud with the CAD model in advance. This is because the measurement point cloud i...
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IPC IPC(8): G06T7/30
CPCG06T2207/10028G06T2207/30164G06T7/30
Inventor 李中伟程旭钟凯罗成
Owner WUHAN POWER3D TECH