基于“一面两孔”特征的点云配准方法  

Registration Method for Point Cloud Based on Feature of One Plane and Two Cylindrical Holes

作　　者：江磊[1,2] 李相标 马术文 周良明[1,3] 李其勤 段昌德 

机构地区：[1]西南交通大学先进设计与制造技术研究所,四川成都610031 [2]电子信息控制重点实验室,四川成都610036 [3]成都飞机工业(集团)有限责任公司,四川成都610091 [4]东方电气集团东方电机有限公司,四川德阳618000

出　　处：《西南交通大学学报》2014年第6期1090-1096,共7页Journal of Southwest Jiaotong University

基　　金：四川省科技计划资助项目(2012JY0092);中央高校基本科研业务费专项资金资助项目(2682014CX035)

摘　　要：为了提高零件在扫描检测过程中点云与设计模型的配准精度,提出了一种基于＂一面两孔＂特征的点云配准方法.该方法粗配准以零件的平面/圆柱孔特征为对象,使设计模型和点云的局部坐标系重合,并通过改进ICP算法求解点云与设计模型最近点的距离最小平方和实现精配准.由于配准区域和最近点的计算方法不同,精配准进一步分为全域和特征域配准两种类型.全域精配准以距点云最近的设计模型三角网格点或投影点为最近点,适合于毛坯件;特征域精配准则通过求解点云在平面/圆柱孔特征上的投影点为最近点,适合于成品件.试验及计算结果表明：全域配准的配准精度随表面离散点距离的减小而提高,当离散点距离达到1.50 mm时,其配准精度已经达到0.15 mm,基本满足工程应用要求.当配准精度相同时,配准效率较其它方法提高10%～20%。For improving the registration accuracy between point cloud and design model of the parts during scan detection, a registration method based on the feature of one plane and two cylindrical holes was proposed. The rough registration applies the features of plane and holes to coincide with the local coordinate systems of point cloud and design model. The fine registration is finished by using the improved iterative closest point （ICP） algorithm to calculate the sum of least squares of the distance between the closest points and point cloud. Since the calculation methods of registration areas and the closest points are different, fine registration is further classed into the global domain and feature domain types. The closest points of global registration are obtained by comparing the distance between point cloud and the nearest design model grid points or projection points, which is suitable for blank parts. The projection points of point cloud on a plane or a cylindrical hole are the closest points of feature domain registration, which is suitable for finished parts. The test results show that the accuracy of global registration will increase with the distance the distance reaches 1.50 mm, the accuracy is requirements. For the same registration accuracy, compared with that of other methods. between surface discrete points decreasing. When about 0. 15 mm, which meets the engineering the efficiency will be improved by 10%-20 % compared with that of other methods.

关 键 词：一面两孔 特征 配准 最近点 ICP算法 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]