基于iGPS的复杂曲面三维点云拼接技术
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摘要
提出了基于iGPS(indoor Global Positioning System)世界坐标系进行点云拼接的方法,建立了点云拼接数学模型,并求解拼接模型中的坐标转换关系。基于标准球测量实验,分别实现了基于机器人基坐标系的点云拼接和基于iGPS世界坐标系的点云拼接。研究结果表明,基于iGPS世界坐标系的点云拼接方法不受机器人定位精度的影响,拼接精度更高。
A method of point cloud splicing is proposed based on the iGPS(indoor Global Positioning System) world coordinate system. A point cloud splicing mathematical model is established and the coordinate transformation relationship in this splicing model is solved. Based on the standard ball measurement experiment, the point cloud splicing based on the robot base coordinate system and that based on the iGPS coordinate system are realized, respectively. The research results show that the point cloud splicing method based on the iGPS world coordinate system is not affected by the positioning accuracy of robots, and moreover the splicing precision is high.
A method of point cloud splicing is proposed based on the iGPS(indoor Global Positioning System) world coordinate system. A point cloud splicing mathematical model is established and the coordinate transformation relationship in this splicing model is solved. Based on the standard ball measurement experiment, the point cloud splicing based on the robot base coordinate system and that based on the iGPS coordinate system are realized, respectively. The research results show that the point cloud splicing method based on the iGPS world coordinate system is not affected by the positioning accuracy of robots, and moreover the splicing precision is high.
引文
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[10] Huang J, Zhu J G, Wang Y. Calibration for 3D profile measurement robot with laser line-scan sensor[J]. Chinese Journal of Sensors and Actuators, 2012, 25(1): 62-66. 黄佳, 邾继贵, 王一. 激光线扫式形貌测量机器人的标定研究[J]. 传感技术学报, 2012, 25(1): 62-66.
[2] Yang F, Bai B X, Zhang Z P, et al. Research on clouds registration algorithm based on multi-view point[J]. Journal of Changchun University of Science and Technology (Natural Science Edition), 2014, 37(3): 124-127. 杨帆, 白宝兴, 张振普, 等. 基于多视点云拼接算法研究[J]. 长春理工大学学报(自然科学版), 2014, 37(3): 124-127.
[3] Huang Y, Da F P, Tao H J. An automatic registration algorithm for point cloud based on feature extraction[J]. Chinese Journal of Lasers, 2015, 42(3): 0308002. 黄源, 达飞鹏, 陶海跻. 一种基于特征提取的点云自动配准算法[J]. 中国激光, 2015, 42(3): 0308002.
[4] Wu M Q, Li Z W, Zhong K, et al. Adaptive point cloud registration method based on geometric features and photometric features[J]. Acta Optica Sinica, 2015, 35(2): 0215002. 伍梦琦, 李中伟, 钟凯, 等. 基于几何特征和图像特征的点云自适应拼接方法[J]. 光学学报, 2015, 35(2): 0215002.
[5] Lu W L, Jiang K Y, Lin J Y. Multi-view 3D data registration based on global control codeless points[J]. Opto-Electronic Engineering, 2014, 41(5): 57-62. 卢炜良, 江开勇, 林俊义. 无编码全局控制点多视角三维数据拼接[J]. 光电工程, 2014, 41(5): 57-62.
[6] Zhang M, Sui Y X, Yang H J. Subaperture stitching interferometry based on detection of marker center[J]. Chinese Optics, 2014, 7(5): 830-836. 张敏, 隋永新, 杨怀江. 提取标记点中心在子孔径拼接检测中的应用[J]. 中国光学, 2014, 7(5): 830-836.
[7] Sun F L, Zhao G, Wang W, et al. Analysis method of iGPS measurement uncertainty spatial distribution[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(1): 174-180. 孙涪龙, 赵罡, 王伟, 等. iGPS测量不确定度空间分布分析方法[J]. 北京航空航天大学学报, 2015, 41(1): 174-180.
[8] Gu Y X, Ma J S. Research on an algorithm about 3D profile measurement based on laser feedback[J]. Optical Instruments, 2015, 37(1): 1-3, 8. 谷亚先, 马军山. 利用激光反馈测量物体三维形貌[J]. 光学仪器, 2015, 37(1): 1-3, 8.
[9] Hou M S, Wang Q, Ma G Q, et al. Calibration and verification method for 3D shape flexible measurement system[J]. Journal of Applied Optics, 2018, 39(3): 385-391. 侯茂盛, 王强, 马国庆, 等. 三维形貌柔性测量系统标定方法及验证[J]. 应用光学, 2018, 39(3): 385-391.
[10] Huang J, Zhu J G, Wang Y. Calibration for 3D profile measurement robot with laser line-scan sensor[J]. Chinese Journal of Sensors and Actuators, 2012, 25(1): 62-66. 黄佳, 邾继贵, 王一. 激光线扫式形貌测量机器人的标定研究[J]. 传感技术学报, 2012, 25(1): 62-66.