A point cloud misregistration filtering method and system for three-dimensional measurement of a complex special-shaped curved surface robot
A technology of 3D point cloud and robot, which is applied in the fields of instruments, 3D image processing, image data processing, etc.
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[0033] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0034] Using the robot mobile platform equipped with a 3D scanning device at the end, it will scan the complex special-shaped surface target from multiple directions, collect 3D image information, calculate the registration points for feature matching through the computer, and use the point cloud error of the complex special-shaped surface robot 3D measurement The registration filtering method filters out incorrect registration results and obtains correct matching results.
[0035] The 3D target is a blade with a special-shaped curved surface. The special-shaped curved surface refers to a non-standardized complex surface structure. The similarity of the local depth image is high, and the surface model contains high-order nonlinear functions that are difficult to fit. The registration accuracy of multiple 3D point cloud depth images is difficult to guara...
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