基于最大熵原理的复杂曲面位姿配准技术  

Pose Registration Technology of Complex Surfaces Based on the Maximum-entropy Principle

作　　者：谭高山[1,2] 张丽艳[1] 

机构地区：[1]南京航空航天大学机电学院,南京210016 [2]安徽工业大学数理科学与工程学院,马鞍山243002

出　　处：《农业机械学报》2014年第7期300-305,共6页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金资助项目(50875126);民机专项科研项目(MJ-G-2011-24)

摘　　要：三维测量数据和自由曲面设计模型之间的位姿精确配准是实现复杂曲面加工和检测的关键。为实现快速精确配准,提出一种基于最大熵原理的方法。首先基于加工定位和质量检测配准问题的分析,建立问题的统一模型。然后研究模型的有效求解问题,利用最大熵原理把配准问题转化为一个以熵函数为摄动项的摄动问题,解决极大极小配准模型目标函数的不可微性,为提高配准问题求解效率提供可能。最后通过对两类典型配准问题进行实验,证明了所提方法的有效性和实用性。The pose registration between 3D measured data and freeform surface design model is the key to complex surface machining and inspection. In order to realize fast and accurate surface registration, a method based on the maximum-entropy principle was proposed. A unified mathematics model was developed based on the analyses of machining localization and the registration problem of quality evaluation of parts. The efficient numerical algorithm for the unified model was researched. Based on the maximum entropy principle, the registration problem established on the min-max criterion was converted to a perturbed problem with the entropy function as the perturbation. As a result, the non-differentiable object function is perfectly substituted with the maximum entropy function. This provides a possibility to improve the efficiency of solving registration problems. Experimental results about the allowance distribution and the error inspection show the validity and practicability of the method.

关 键 词：曲面配准 最大熵原理 极大极小原理 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]