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A three-dimensional laser target sphere center fitting method based on weight selection iterative wolf pack algorithm

A wolf pack algorithm and weight selection iteration technology, which is applied in the field of 3D laser target ball center fitting based on the weight selection iteration wolf pack algorithm, and can solve the problem of no wolf pack algorithm application.

Active Publication Date: 2021-09-21
ANHUI UNIV OF SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, in the prior art, the wolf pack algorithm has not been applied to the three-dimensional laser target ball center fitting method

Method used

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  • A three-dimensional laser target sphere center fitting method based on weight selection iterative wolf pack algorithm
  • A three-dimensional laser target sphere center fitting method based on weight selection iterative wolf pack algorithm
  • A three-dimensional laser target sphere center fitting method based on weight selection iterative wolf pack algorithm

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Embodiment 1

[0057] like figure 1 As shown, the present invention proposes a three-dimensional laser target ball center fitting method based on the weight selection iterative wolf pack algorithm. In this paper, the wolf pack algorithm WPA is combined with the weight selection iteration (WI) to introduce the target ball center Fitting, and based on the data characteristics of the center of the target ball, MWIWPA was constructed. The idea of ​​this method to fit the center of the target ball is to weaken or even eliminate the influence of outliers through weight selection iterations, and to determine the parameters through WPA fitting. The weighted initial value of WI, which is closer to the true value, reduces the influence of outliers while making full use of the suspicious segment data of WI.

[0058] Specifically, in an embodiment of the present invention, the method includes:

[0059] Step S1, the combination of wolf pack algorithm WPA and weight selection iteration, introduce target ...

Embodiment 2

[0114] like figure 2 As shown, use MATLAB to simulate the center of the target ball to fit the data, assuming that the equation of the target ball is:

[0115] (x-0.1) 2 +(y-0.1) 2 +(z-0.1) 2 =0.0725 2 (15)

[0116] In actual scanning, the 3D laser scanner can only obtain the point cloud data of half the target sphere, so the restrictions on the above sphere equation are as follows:

[0117] y>-x+0.2 (16)

[0118] In order to simulate the spherical point data of the target sphere, 1000 points are randomly selected on the half of the target sphere constructed by formulas (15) and (16), and the measurement error is set to obey the positive state distribution, and then add the measurement error to the x, y and z coordinates of the above points respectively, and simulate the spherical point data of the target as figure 2 shown. Considering that there are outliers (non-target spherical points) in the fitting data of the center of the target ball, the distance between the...

Embodiment 3

[0124] In this paper, Hi-Target HS650 high-precision three-dimensional laser scanner is used for experimental data collection. Hi-Target HS650 high-precision 3D laser scanner adopts full waveform measurement technology, which can output multiple echoes; the distance measurement method is pulse type, the maximum distance measurement is 650m, the minimum distance measurement is 1.5m, and the distance measurement accuracy can reach 5mm per 100 meters. ;Laser divergence is less than 0.14mrad; panoramic resolution is greater than 70 million pixels, horizontal and vertical angular resolution are both 0.001°; scanning range is horizontal 0~360°, vertical -40~60°; scanning speed is horizontal 3~ 150 lines / s, the fastest horizontal is 36° / s, and the data acquisition speed is up to 500,000 points / s.

[0125] The site of the experiment in this paper is located in Guqiao Mine, Huainan, China. During the experiment, the target ball was scanned multiple times. The scanning time was about 40...

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Abstract

The present invention proposes a three-dimensional laser target ball center fitting method based on weight selection iterative wolf pack algorithm, combining wolf pack algorithm (WPA) with weight selection iteration (WI) for the first time, The center of the target ball is fitted to the data characteristics, and a three-dimensional laser target ball center fitting method (MWIWPA) based on the iterative wolf pack algorithm for weight selection is constructed. In the fitting method of the present invention, when the fitting data of the center of the target ball contains outliers, the fitting effect of MWIWPA is better than the weighted iterative least square method (WILS) which can resist outliers, and there is no need to carry out WILS The complex and tedious linearization process of the spherical equation; compared with the three-dimensional laser target spherical center fitting method (MWPA) based on the wolf pack algorithm, the MWIWPA fitting parameters have higher accuracy, precision, and better robustness. The center of the sphere is closer to the true value, and with the increase of the proportion of outliers and the fluctuation of the number of fitting data points, MWIWPA still has a better fitting effect in the fitting of the center of the target ball.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional laser point cloud matching data processing, and in particular relates to a three-dimensional laser target ball center fitting method based on weight selection iterative wolf pack algorithm. Background technique [0002] 3D laser scanning technology is a recently developed high-tech. Due to its high precision, full digitalization, fast data acquisition, and easy operation, it is widely used in 3D modeling, deformation monitoring, topographic mapping and other fields. However, the application of 3D laser scanning technology has limitations. For example, the complete point cloud needs to be obtained through multiple observation stations, and the point cloud obtained by each observation station is located in the relative coordinate system of the observation station. Therefore, the point cloud obtained by the 3D laser scanner needs to be multi-site cloud registration and geographic reference ...

Claims

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Application Information

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IPC IPC(8): G01B11/00G01B11/24G06N3/00
CPCG01B11/00G01B11/24G06N3/006
Inventor 王磊李靖宇
Owner ANHUI UNIV OF SCI & TECH
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