面向复杂特征点云的高精高效配准方法  

Method of high⁃precision and high⁃efficiency registration for complex feature point clouds

作　　者：陈欣 张大斌[1] 张俊飞 计正康 CHEN Xin;ZHANG Dabin;ZHANG Junfei;JI Zhengkang(School of Mechanical Engineering,Guizhou University,Guiyang 550000,China;Guizhou People’s Armed College,Guiyang 550000,China;Guiyang Hangfa Precision Casting Co.,Ltd.,Guiyang 550000,China)

机构地区：[1]贵州大学机械工程学院,贵州贵阳550000 [2]贵州人民武装学院,贵州贵阳550000 [3]贵阳航发精密铸造有限公司,贵州贵阳550000

出　　处：《现代电子技术》2025年第4期181-186,共6页Modern Electronics Technique

基　　金：2023年度贵州省科技支撑计划(黔科合支撑[2023]一般280);2022年度贵州省科技支撑计划(黔科合支撑[2022]一般042)。

摘　　要：为满足工业生产对航空叶片精铸零件点云配准精度越来越高的需求,并提高配准的速度和精度,提出一种配准方法——组合裁剪迭代最近点(C-TrICP)。首先,使用曲率下采样算法对点云进行下采样,较好地保留原始点云的特征;然后,对裁剪迭代最近点(TrICP)算法进行改进,并与迭代最近点(ICP)及TrICP算法进行对比实验。结果表明:改进算法在各点云模型的配准上均能取得较好的结果,且相比于ICP算法,该算法对Lucy、Bunny及Blade点云的配准效率分别提高了43.03%、43.86%及30.09%,配准精度分别提高了57.90%、99.96%及62.50%,解决了ICP及TrICP算法较为耗时、迭代收敛速度慢的问题,提高了配准精度。最后,将改进算法应用于航空叶片轮廓曲面自测点云的配准上,也取得了较好的配准精度,说明该方法对复杂曲面精密加工的发展具有良好的理论意义和重要的工程应用价值。In order to meet the increasing demand for point cloud registration accuracy of precision cast parts for aviation blades in industrial production,and to improve the speed and accuracy of registration,a registration method:combined trimmed iterative closest point(C-TrICP),is proposed.The curvature down-sampling algorithm is used to down-sample the point cloud,which well preserves the characteristics of the original point cloud.The TrICP algorithm is improved,and the comparative experiments with ICP and TrICP algorithms are conducted.The results show that the improved algorithm can realize better results in the registration of each point cloud model,and compared with the ICP algorithm,the registration efficiency of this algorithm in Lucy,Bunny and Blade point cloud is improved by 43.03%,43.86%and 30.09%respectively,and the registration accuracy is improved by 57.90%,99.96%and 62.50%respectively.It solves the problem that the ICP and TrICP algorithms are time-consuming and slow in iteration convergence,and can improve the registration accuracy.The improved algorithm is applied to the registration of self-measured point cloud of aviation blade profile surface,and good registration accuracy is also obtained.It has good theoretical significance and important engineering application value for the development of precision machining of complex surfaces.

关 键 词：点云配准 下采样 裁剪迭代最近点算法 迭代最近点 收敛速度 配准精度 

分 类 号：TN249-34[电子电信—物理电子学]