借助标志点的深度数据全局匹配方法  

A Method for Global Registration of Range Data Combined with Markers

作　　者：刘晓利[1] 彭翔[1] 殷永凯[1] 李阿蒙[1] 赵晓波[1] 

机构地区：[1]深圳大学光电工程学院,教育部光电子器件与系统重点实验室,广东省光电子器件与系统重点实验室,深圳广东518060

出　　处：《光学学报》2009年第4期1010-1014,共5页Acta Optica Sinica

基　　金：国家自然科学基金(60275012,60775021);广东省科技计划(2007B010200039);深圳市科技计划(200619,200734)资助

摘　　要：深度数据匹配是三维光学测量系统的关键问题,借助标志点匹配方法具有廉价、方便、快速等优点,但当前该方法对多视场数据匹配的误差积累问题没有解决。阐述一种借助非编码标志点进行深度数据匹配的方法,利用图像处理及模式识别技术提取标志点,并由光学测量系统标定信息获得标志点三维局部坐标,利用欧式空间距离的刚体不变性,完成两个视场深度数据的精确匹配。并提出一种全局迭代优化算法完成对多个视场深度数据的全局精确匹配,避免了误差积累,最大匹配误差从0.123 mm降到0.076 mm。实验证实了方法的有效性,不仪可以自动、快速完成两个视场深度数据的精确匹配,而且解决了对多个视场深度数据匹配的误差积累问题。Range data registration is a key issue of 3D optical measurement. The method based on markers has the advantage of cheapness, convenience and fastness. But the problem of error accumulation is still unsolved for multiple viewing fields. A fine registration method to register the multiple range data with non-coding markers is proposed. Image process and pattern recognition techniques are employed to detect the sub-pixel location of markers. The markers＇ local coordinates in 3D space are computed from optical measurement system. Through the principle of rigid invariance of distance in 3D Euclidean space, the fine registration of two range data is completed. Moreover, a global iterative algorithm is proposed for accurate registration of multiple range data. Using this algorithm, the maximum error reduces from 0. 123 mm to 0. 076 mm. The experimental results illustrate the validity of this method. It can automatically fast register multiple range data and decrease error accumulation.

关 键 词：机器视觉 深度数据匹配 标志点 全局优化 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]