3D Point Cloud Registration Using a Multi-Sphere Jig
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing point cloud data registration methods require target installation, which is time-consuming and impractical in limited spaces, and satellite positioning systems like GNSS are costly and ineffective in non-communication environments.
Innovation Solution
A registration device and method using a jig with three or more connected spheres to align three-dimensional point cloud data, calculating center coordinates and generating alignment data using a three-dimensional laser scanner.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple targets are installed for registration in multipoint measurement, then registration accuracy is improved, but installation time increases and work space requirements increase
Solution Approach 1:
The patent combines multiple target functions into a single integrated jig containing multiple spheres. Instead of installing separate targets at different locations, one jig with three or more spheres serves as all necessary targets for registration across multiple measurement points, thereby reducing installation time while maintaining registration accuracy
Solution Approach 2:
The jig with multiple spheres serves multiple functions simultaneously: it acts as a reference object for coordinate system establishment, provides multiple identifiable features for alignment calculations, and works across all measurement points. This multi-functional design eliminates the need for multiple separate targets
2Measurement precision
If multiple targets are installed for registration in multipoint measurement, then registration accuracy is improved, but device complexity and space requirements increase
Solution Approach 1:
Multiple target elements are merged into a single jig structure. The jig contains three or more spheres that are physically connected or positioned together, forming one installable unit rather than multiple separate targets, thus reducing installation complexity
Solution Approach 2:
The patent uses spherical shapes for the target elements. Spheres have simple geometric properties that are easy to detect and measure from multiple angles, simplifying the registration calculations while providing sufficient geometric features for accurate alignment
3Measurement precision
If GNSS is used for measurement position determination, then registration capability is improved, but cost increases and applicability in non-communication environments deteriorates
Solution Approach 1:
The patent introduces a physical jig with spheres as an intermediary reference object that mediates the registration process. Instead of relying on satellite signals that require communication infrastructure, the spheres serve as tangible, detectable references that work in any environment where the laser scanner can detect them, including underground tunnels and other non-communication areas
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Reduces target installation time and efficiently registers point cloud data in non-GNSS environments, enhancing data alignment efficiency.
Implementation Method 1
a measurement unit configured to acquire three-dimensional point cloud data of the structure including the jig disposed at the same position in a measurement range from each of the plurality of measurement points using a three-dimensional laser scanner
Data Source
AI summary
A registration device (1) includes: one jig (2) including three or more connected spheres disposed in a measurable range from each of a plurality of measurement points inside a structure (20); a measurement unit (11) configured to acquire three-dimensional point cloud data of the structure (20) including the entire jig (2) disposed at the same position in a measurement range from each of the plurality of measurement points using a three-dimensional laser scanner; a first arithmetic unit (12) configured to calculate center coordinates of the three or more spheres included in the jig (2) from the three-dimensional point cloud data and to generate initial alignment data between the plurality of pieces of three-dimensional point cloud data such that the center coordinates match; and a second arithmetic unit (13) configured to generate final alignment data between the plurality of pieces of three-dimensional point cloud data from the initial alignment data using an alignment algorithm.