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Multi-station scanning point cloud global registration method based on graph optimization

A multi-station, scanning point technology, applied in the field of aircraft detection, can solve problems such as large amount of data calculation, large registration error, error accumulation, etc., and achieve the effect of overcoming uneven density, high detection accuracy and efficiency, and improving efficiency.

Inactive Publication Date: 2020-08-18
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

In the existing technology, for multi-view point cloud registration, the method of repeatedly performing pairwise registration is mostly adopted, which has a large amount of data calculation and low efficiency
At the same time, it is easy to accumulate the error of each pair of point cloud registration into the overall error, making the registration error larger

Method used

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  • Multi-station scanning point cloud global registration method based on graph optimization
  • Multi-station scanning point cloud global registration method based on graph optimization
  • Multi-station scanning point cloud global registration method based on graph optimization

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Embodiment Construction

[0047] The method for global registration of multi-site scanning point clouds based on graph optimization of the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0048] Such as figure 1 As shown, a global registration method of multi-site scanning point cloud based on graph optimization includes the following steps:

[0049] Step 1. Obtain the multi-view original aircraft 3D point cloud data with targets.

[0050] Use a 3D laser scanner (such as the ScanStationP20 model) to obtain and save the local point cloud data of the aircraft at multiple stations. At each station, more than 4 cross targets are placed between the aircraft and the 3D laser scanner as the basis for initial registration. The target placement method is as follows: the cross targets are scattered between the 3D laser scanner and the aircraft, and each cross target faces the 3D laser scanner, while avoiding the collinear situ...

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Abstract

The invention discloses a multi-station scanning point cloud global registration method based on graph optimization, and the method comprises the steps: obtaining multi-station original three-dimensional point cloud data, and obtaining the multi-station point cloud data covering the surface of a complete machine of an airplane through the arrangement of multi-station scanning; based on initial registration of the targets, initial registration of the point cloud data of the adjacent stations is completed through the targets of all the view angles; calculating the overlapping area of the adjacent view point clouds, and calculating the overlapping area of the adjacent point clouds through a rasterization sampling method; establishing a fine registration graph structure, namely establishing afine registration graph by taking the cloud data of each station as nodes of the graph and the overlapping area of the cloud data of the adjacent stations as edges of the adjacent nodes of the graph structure; and optimizing fine registration based on the graph of loop closure, and gradually completing complete machine point cloud fine registration according to a specific closure sequence. Accurate measurement of the overall appearance of a large-scale aircraft is realized, and complete data is provided for complete machine detection. The method improves the detection efficiency and precision,is not liable to be affected by the external environment, and is convenient to operate.

Description

technical field [0001] The invention belongs to the technical field of aircraft detection, and relates to an aircraft point cloud registration method, in particular to a graph-optimized multi-station scanning point cloud global registration method. Background technique [0002] In the field of aircraft manufacturing, the requirements for the high-precision manufacturing of the complete aircraft are constantly improving. At the same time, the precise detection of the aircraft is becoming more and more important. For a long time in the past, the three-coordinate measurement method has been widely used in precision manufacturing due to its extremely high precision. However, when faced with large-scale products such as aircraft, it is difficult for a three-dimensional coordinate measuring instrument to complete the overall measurement of the aircraft. In this context, 3D laser scanning technology emerged as the times require and is widely used to obtain object surface data. It ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/30
CPCG06T2207/10028G06T7/30G06T2207/20072G06T11/206G06T2210/12G06T7/70
Inventor 汪俊王岩刘元朋谢乾
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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