A fast point cloud registration method and application for rotating scanning of small-sized objects
A rotary scanning, small-size technology, applied in the field of 3D scanning, can solve the problems of rough registration, long time consumption, poor registration accuracy, etc., to achieve the effect of ensuring registration accuracy, high calculation efficiency, and easy implementation.
Active Publication Date: 2022-07-12
HEBEI UNIV OF TECH
View PDF9 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Due to the limitations of its own algorithm, the marker point splicing method has problems such as warping of the pasted marker points when measuring small-sized objects due to its small surface area and small radius of curvature, resulting in poor registration accuracy, and the marker points need to be manually Selection takes a long time, so it is generally used in 3D measurement of large objects, or used for point cloud coarse registration as the iterative initial value of the ICP algorithm for 3D precision measurement
[0004] The ICP algorithm mainly performs iterative calculations through marking features, so the measurement accuracy for objects to be measured with obvious features on the surface is high, and registration errors are prone to occur for objects without obvious features such as smooth cylinders; and the ICP algorithm is sensitive to the initial position , easy to fall into local optimum, often requires rough registration, and iterative operation takes a long time
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0067] The present invention will be further described below with reference to examples and accompanying drawings, but this is not intended to limit the protection scope of the present application.
[0068] The present invention is a point cloud fast registration method for rotating scanning of small-sized objects (referred to as the method, see Figure 1-6 ), including the following steps:
[0069] The first step is to calibrate the rotating platform to obtain the pose transformation relationship between the rotating platform coordinate system and the camera coordinate system; the pose transformation relationship includes the rotation matrix Rot(Z c ,α), rotation matrix Rot(X c ,β) and translation vector T;
[0070] 1) Establish a coordinate system pose transformation model
[0071] like figure 1 As shown, the coordinate system pose transformation model includes a rotating platform and a camera; O c -X c Y c Z c is the camera coordinate system, the axis O c Z c is t...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention relates to a point cloud fast registration method and application for rotating scanning of small-sized objects. The method includes: the first step, calibrating a rotating platform, and obtaining the pose transformation relationship between the rotating platform coordinate system and the camera coordinate system; The second step is to obtain the point cloud data of the workpiece at different rotation angles, and multiple sets of point cloud data are obtained; the third step is to convert the point cloud data to In the coordinate system of the rotating platform, the coordinates of each group of point cloud data at the 0° position of the rotating platform are obtained; then each group of point cloud data is restored to the position before the rotating platform is rotated. This method can be used for the rotational scanning of the tool of the machining center without iterative operation between the point cloud data, the calculation efficiency is high, there is no accumulated error, and there is no overlapping area between the point cloud data, which ensures the registration accuracy. while increasing the speed.
Description
technical field [0001] The invention relates to the technical field of 3D scanning, in particular to a point cloud fast registration method and application for rotational scanning of small-sized objects. Background technique [0002] The three-dimensional surface measurement method based on structured light illumination has the characteristics of non-contact, high precision and easy to implement automatic measurement under computer control. It has broad application prospects and has been widely used in 3D measurement of complex diffuse surfaces. Since the relative position between the camera and the measured object is fixed, only point cloud data of a certain position and angle can be obtained for each measurement. To obtain a complete 3D point cloud model, point cloud data of multiple positions need to be collected And perform point cloud stitching, a process called point cloud registration. [0003] Commonly used point cloud registration methods include marker point spli...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & AuthorityPatents(China)
IPC IPC(8): G06T7/33G06T7/73G06T7/80G01B11/24G01B11/00
CPCG06T7/33G06T7/73G06T7/80G01B11/24G01B11/002G06T2207/10028G06T2207/30208
Inventor刘今越李学飞翟志国王晓帅胡占宇
OwnerHEBEI UNIV OF TECH