基于点云的圆台目标的位姿测量方法  

A pose determination method base on point clouds

作　　者：曲广宇 QU Guangyu(Shenyang Ligong University,Shenyang 110159,China)

机构地区：[1]沈阳理工大学信息科学与工程学院,辽宁沈阳110159

出　　处：《通信与信息技术》2024年第6期44-47,共4页Communication & Information Technology

摘　　要：针对圆台目标位姿测量问题,提出了一种基于点云的测量方法。首先通过RANSAC算法,拟合目标点云中的圆台底面方程,提取构成圆台底面以及平面附近的点云;然后通过点云投影和坐标变换,将平面上的点映射到图像上;最后提取图像膨胀后的最大连通域的外轮廓点,获取圆台底面圆的边缘点,通过最小二乘法进行圆形拟合,计算圆心坐标,结合目标底面的法向量,测量目标的位姿。在实验中,圆台底面法向量与准确值之间的最大偏差角度为0.17°,测量的底面圆心坐标与准确值之间的最大距离为7.60mm;实验结果表明,测量精度满足实际需求。Aiming at the problem of the measurement of the target pose of the circular table.A measurement method based on point cloud is proposed.Firstly,the RANSAC algorithm is used to extract the point clouds that form the bottom of the cone and near the plane to fit the equation of the cone bottom in the target point cloud.Then,through point cloud projection and coordinate transforma-tion,the points on the plane are mapped to the image.Finally,extracting the outer contour points of the largest pass region after expand-ing the image and obtaining the edge points of the circle on the bottom surface of the circular platform involves fitting a circle to these points using the least squares method.Calculating the center coordinates and combining them with the normal vector of the bottom sur-face of the target allows us to measure the target's pose.In the experiment,the maximum deviation angle between the normal vector of the bottom surface of the circular table and the accurate value is 0.17°,and the maximum distance between the measured center coordi-nates of the bottom surface and the accurate value is 7.60 mm.The measurement accuracy meets the actual needs.

关 键 词：点云 圆台目标 位姿测量 RANSAC 边缘点 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]