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Online real-time registration method for incomplete three-dimensional scanning point cloud with plane reference

A 3D scanning, plane datum technology, applied in image analysis, image enhancement, instruments, etc., to achieve high practical value

Active Publication Date: 2021-08-06
GUANGDONG SAMSUN TECH CO LTD
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  • Abstract
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  • Claims
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Problems solved by technology

[0006] In order to avoid the deficiencies of the prior art, the present invention provides an efficient registration algorithm for incomplete point cloud models with standard models to meet the needs of online real-time operation

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  • Online real-time registration method for incomplete three-dimensional scanning point cloud with plane reference
  • Online real-time registration method for incomplete three-dimensional scanning point cloud with plane reference
  • Online real-time registration method for incomplete three-dimensional scanning point cloud with plane reference

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Embodiment Construction

[0032] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0033] First, establish the recognition index R of the plane primitive:

[0034] Given a set of plane primitives {PLANE i}, i=1,...,N, each plane Plane i The data includes:

[0035] P i : the geometric center of the plane profile;

[0036] V i : The normal direction of the plane, pointing to the outside of the entity where the plane is located;

[0037] A i : the area of ​​the plane profile;

[0038] T i : The fitting error of the identified plane. If the plane comes from a CAD model (BREP or IGES format), then T i = 0; if the plane identified by RANSAC algorithm, then T i is the fitting error value of the identified plane;

[0039] m i : represents the plane in {Plane i} with the number of parallel planes (including this plane), if the plane is in {...

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Abstract

An online real-time registration method for an incomplete three-dimensional scanning point cloud with a plane reference comprises the steps that S1, a standard model is preprocessed, the standard model is input, and a plane graph element set in the standard model and related geometric information of each graph element are obtained; S2, data preparation: three-dimensional scanning point cloud model data is input; a standard model file is arranged; a standard model feature template file is arranged; S3, an RANSAC shape recognition algorithm is called for the three-dimensional scanning point cloud model data to recognize planar graph elements in the three-dimensional scanning point cloud model data; S4, for each planar graph element of the three-dimensional scanning point cloud model, a list paired with all planar graph elements in the standard model is created; S5, all three-plane graph tuples are created according to the plane graph elements; and S6, registration calculation is made between the three-plane combination of the point cloud model and all corresponding possible three-plane combinations in the standard model to obtain an optimal registration homogeneous coordinate transformation matrix. Registration of all point cloud data does not need to be considered, and only plane features in a standard model and an actual point cloud model need to be considered for identification and matching; therefore, the number of searching cycles is reduced, and the acceleration target is achieved.

Description

technical field [0001] The invention relates to the relevant technical field of applying a part point cloud model obtained by a three-dimensional scanning device to an automatic manufacturing process. More specifically, it relates to an algorithm for online real-time registration of point cloud data obtained by using a 3D scanning device and a preset standard model in an automatic manufacturing workstation. Background technique [0002] In recent years, the technology of using 3D scanning equipment to obtain point cloud data of actual parts to form digital models of parts has matured. With the help of 3D scanning equipment, 3D scanning is performed on a large number of parts on the production line to obtain a real-time 3D model of the part, which provides the basic conditions for manufacturing automation. Taking the production of 3C (computer, communication and consumer electronics) products as an example, it has the characteristics of large flexibility, high precision, hig...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/33G06T7/62G06T7/66G06T7/73G06K9/62
CPCG06T7/344G06T7/73G06T7/62G06T7/66G06T2207/10028G06F18/22
Inventor 颜昌亚卢少武周向东李振瀚唐小琦张庆祥陈英滔谭辉汤胜水郑晓泽
Owner GUANGDONG SAMSUN TECH CO LTD
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