The invention discloses a
point cloud segmentation method for three-dimensional measurement of a complex special-shaped curved surface
robot, and the method comprises the following steps: S100, inputting a blade
point cloud X taking the ground and a desktop as backgrounds, filtering background points through
voxel filtering, and obtaining a target blade
point cloud Y; S200, calculating a normal vector and a plane profile tolerance of a Y midpoint by utilizing a PCA
algorithm, removing outliers, and marking an associated
point set as a consistent set CS; s300, establishing paired connection byutilizing the normal vector and the plane profile tolerance deviation, searching after determining a clustering center, and searching all points connected with the clustering center to generate a cluster C; s400, performing curved
surface fitting on the cluster C by using a
Delaunay triangulation method; s500, for each fitted curved surface slice, calculating the curvature of the curved surface slice, setting a curvature deviation threshold value, and if the curvature deviation between two adjacent curved surface slices is smaller than the threshold value, combining the curved surface slices;otherwise, not combining to obtain a complete leaf point cloud Y separated from the background point cloud. The method has the advantages of being accurate in segmentation, few in input parameters andhigh in robustness.