This invention relates to the field of
machine vision measurement technology and discloses a high-precision visual measurement method for the bending angle of
metal shells based on
point cloud registration. A measurement coordinate
system is established using reference marker points, and the
point cloud after bending is transformed. A reference
point set is constructed by filtering boundaries and calculating the reference sampling step size. The average bending height and bending strength are statistically analyzed by width to obtain the initial position of the bending line and the initial bending
band width. A continuous bending field is constructed within the candidate range to generate a predicted
point cloud, and the registration residual is obtained by comparing the
nearest point with the measured point cloud. The compact residual and column height residual are obtained by combining the projection boundary, out-of-band
diffusion, and column height comparison. The total residual is constructed and searched multiple times to obtain the optimal bending line, bending angle, and bending
band width. The predicted point cloud, registration error, and bending angle are output, reducing segmentation fitting bias, suppressing multi-solution drift, and improving stability and consistency under
noise and missing conditions.