基于三维扫描的机车走行部螺栓识别与定位  

Automatic recognition of bolts on locomotive running gear based on laser scanner 3D measurement

作　　者：黄潜 王泽勇 李金龙 姜雯楠 高晓蓉 Huang Qian, Wang Zeyong, Li Jinlong, Jiang Wennan, Gao Xiaorong(Photoelectric Engineering Institute, School of Physical Science and Technology, Southwest Jiaotong University, Chengdu Sichuan 610031, Chin)

机构地区：[1]西南交通大学物理科学与技术学院光电工程研究所,四川成都610031

出　　处：《光电工程》2018年第1期48-55,共8页Opto-Electronic Engineering

基　　金：国家自然科学基金(61471304)资助项目~~

摘　　要：使用激光线结构光扫描仪得到机车走行部三维点云数据,实现了在三维数据中对螺栓进行自动识别和定位。使用关键点的快速点特征直方图(FPFH)来描述点云特征,首先,将目标区域与预存螺栓模板进行特征匹配,并为目标区域的匹配点分配权重;然后,使用均匀的种子点在带权重的匹配点集中进行K-means聚类,并删除点数过少的聚类簇;最后,使用Hough变换的方法为经过筛选的聚类簇建立严格的分类器,判断出螺栓的有无和精确位置。实验证明了该方法的有效性。The locomotive running gear 3D point cloud data are obtained by line-structured laser scanner,and the bolts on the locomotive running gear under the 3D point cloud data are recognized and located automatically.Firstly,fast point feature histograms（FPFHs） of the key points are calculated to describe the 3D features,and the target region is matched with the preselected bolt template.Then,K-means clustering is carried out on the weighted match point set using uniform seed points.Finally,the Hough transform method is used to establish a strict classifier for the clusters,and the existence and precise position of the bolts are determined.The experimental results verify the effectiveness of the proposed method.

关 键 词：三维点云 激光三维扫描 机车走行部 特征提取 快速点特征直方图(FPFH) K-MEANS HOUGH变换 

分 类 号：O436.3[机械工程—光学工程]