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An Online Registration Method for Incomplete 3D Scanning Point Clouds with Planar Datums

A technology of three-dimensional scanning and plane reference, which is applied in image analysis, image enhancement, instruments, etc., to achieve high practical value

Active Publication Date: 2021-11-19
GUANGDONG SAMSUN TECH CO LTD
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Problems solved by technology

[0006] In order to avoid the deficiencies of the prior art, the present invention provides an efficient registration algorithm for incomplete point cloud models with standard models to meet the needs of online real-time operation

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  • An Online Registration Method for Incomplete 3D Scanning Point Clouds with Planar Datums
  • An Online Registration Method for Incomplete 3D Scanning Point Clouds with Planar Datums
  • An Online Registration Method for Incomplete 3D Scanning Point Clouds with Planar Datums

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Embodiment Construction

[0033] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0034] First, establish the recognition index R of the plane primitive:

[0035] Given a set of plane primitives {PLANE i}, i=1,...,N, each plane Plane t The data includes:

[0036] P i : the geometric center of the plane profile;

[0037] V i : The normal direction of the plane, pointing to the outside of the entity where the plane is located;

[0038] A i : the area of ​​the plane profile;

[0039] T l : The fitting error of the identified plane. If the plane comes from a CAD model (BREP or IGES format), then T i = 0; if the plane identified by RANSAC algorithm, then T i is the fitting error value of the identified plane;

[0040] m i : represents the plane in {Plane i} with the number of parallel planes (including this plane), if the plane is in {...

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Abstract

An online registration method for incomplete 3D scanning point clouds with a plane reference, including S1: standard model preprocessing, inputting the standard model, obtaining a set of planar primitives in the standard model and related geometric information of each primitive; S2 : Data preparation, input 3D scanning point cloud model data; standard model file; standard model feature template file; S3: call RANSAC shape recognition algorithm on the 3D scanning point cloud model data to identify the plane primitives; S4: point for 3D scanning For each plane primitive of the cloud model, establish a pairing list with all plane primitives in the standard model; S5: Establish all three-plane primitive groups according to the plane primitive; S6: Correspond to the standard model through the three-plane combination of the point cloud model Registration calculations are performed between all possible three-plane combinations to obtain the optimal registration homogeneous coordinate transformation matrix. The present invention does not need to consider the registration of all point cloud data, but only needs to consider the plane features in the standard model and the actual point cloud model for identification and matching; thereby reducing the number of search cycles to achieve the goal of acceleration.

Description

technical field [0001] The invention relates to the relevant technical field of applying a part point cloud model obtained by a three-dimensional scanning device to an automatic manufacturing process. More specifically, it relates to an algorithm for online real-time registration of point cloud data obtained by using a 3D scanning device and a preset standard model in an automatic manufacturing workstation. Background technique [0002] In recent years, the technology of using 3D scanning equipment to obtain point cloud data of actual parts to form digital models of parts has matured. With the help of 3D scanning equipment, 3D scanning is performed on a large number of parts on the production line to obtain a real-time 3D model of the part, which provides the basic conditions for manufacturing automation. Taking the production of 3C (computer, communication and consumer electronics) products as an example, it has the characteristics of large flexibility, high precision, hig...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/33G06T7/62G06T7/66G06T7/73G06K9/62
CPCG06T7/344G06T7/73G06T7/62G06T7/66G06T2207/10028G06F18/22
Inventor 颜昌亚卢少武周向东李振瀚唐小琦张庆祥陈英滔谭辉汤胜水郑晓泽
Owner GUANGDONG SAMSUN TECH CO LTD
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