逆向工程光栅投影点云模型配准技术的研究  

Study on Point Cloud Registration of Raster Projection in Reverse Engineering

作　　者：孟凡文[1,2] 吴禄慎[1] 罗丽萍[1] 

机构地区：[1]南昌大学机电工程学院,江西南昌330031 [2]济宁职业技术学院机电工程系,山东济宁272037

出　　处：《机床与液压》2010年第15期1-4,16,共5页Machine Tool & Hydraulics

基　　金：国家自然科学基金资助项目(59965003);江西省教育厅科技项目(GJJ08037);山东省高等学校科技计划项目(J09LD53)

摘　　要：三维点云配准技术的核心是建立两个待配准点云之间的对应关系。根据协方差分析计算点云配准需要的旋转矩阵和平移向量,将目标点云转换到基准坐标系中实现点云配准。采用光栅投射式三维扫描仪获取某花瓶4组点云数据,利用提出的算法实现无序点云精确配准,并分析点云对之间的转换误差。实验结果表明:4片点云配准耗时约为6 s,配准的平均误差为0.027 mm,配准完成的点云轮廓完整平滑,达到反求曲面要求。该方法适合精度要求较高的自由曲面三维点云自动配准。The key of 3D point cloud registration is to build corresponding relation between two pieces of point cloud.Rotating matrix and translation vector were obtained according to covariance analysis.Point cloud registration was implemented by transforming object point cloud to norm coordinates system.4 groups of vase point cloud were obtained by raster projection 3D scanning instrument,and unorganized point cloud registration based on proposed algorithm was realized.Transformation errors of point cloud couples were analyzed.The experimental results show that the registration time of 4 pieces of point cloud is about 6 s,and average error of registration is 0.027 mm.The point cloud profile after registration is complete and smooth,which can meet the need of surface reconstruction.The proposed method can be used in automatic registration of 3D point cloud of free surface.

关 键 词：逆向工程 点云配准 协方差矩阵 配准误差 

分 类 号：TN911.74[电子电信—通信与信息系统]