A method for determining intersection of two objects based on three-dimensional laser point cloud data

By establishing a three-dimensional grid and cross-sectional coordinate system, and fitting the plane normal direction with three-dimensional laser point cloud data, the intersection position is calculated iteratively. This solves the problems of low efficiency and insufficient automation in the calculation of object intersection positions in existing technologies, and is applicable to industrial measurement and manufacturing fields.

CN121213656BActive Publication Date: 2026-06-09NANJING UNIV OF INFORMATION SCI & TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
NANJING UNIV OF INFORMATION SCI & TECH
Filing Date
2025-09-12
Publication Date
2026-06-09

AI Technical Summary

Technical Problem

Existing technologies struggle to efficiently and automatically calculate the intersection positions of objects, and conventional methods are susceptible to data quality issues and require manual intervention.

Method used

By establishing a three-dimensional grid, filtering grid points near the intersection line, establishing a cross-sectional coordinate system along the approximate intersection line, and determining the intersection line position through iterative calculation, the change information of the normal direction of the plane is fitted using three-dimensional laser point cloud data, which is then transformed into the solution of curve intersection points in a two-dimensional plane.

Benefits of technology

It enables efficient and automatic determination of the intersection line position of two objects, and is applicable to applications such as parts assembly and robotic welding in industrial measurement and manufacturing fields, improving calculation accuracy and automation.

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Abstract

The application discloses a method for determining intersection line of two objects based on three-dimensional laser point cloud data, which comprises the following steps: obtaining three-dimensional laser scanning point cloud data before and after the objects are placed and establishing three-dimensional grid for the data; searching each grid point one by one; determining whether the grid point is around the intersection line of the two objects according to the normal direction change information of the plane fitted by the twice scanning point cloud data in the search range and reserving the grid points around the intersection line; continuing to search the grid points in the reserved grid points and obtaining the approximate intersection point set by calculating the average value of the grid point coordinates; establishing a section and a section coordinate system along the approximate intersection line; converting the measurement coordinates of the section scanning points to the coordinates in the section coordinate system; fitting curves for the section scanning points before and after the objects are placed respectively in the section coordinate system, obtaining two curves, solving the intersection points of the two curves and performing iterative operation to obtain the point set on the accurate intersection line so as to determine the intersection line of the two objects. The application can accurately and efficiently determine the intersection line of the two objects.
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