Pipeline measurement system pose calibration method for point cloud splicing

Abstract

The invention discloses a pipeline measurement system pose calibration method for point cloud splicing, which can solve the problem of whole-ring point cloud splicing of a measurement system applied to the inner surface of a pipeline. Through a calibration cylinder which is processed in a high-precision manner and has a fixed inner diameter, point clouds of different poses are generated through rotary measurement; a calibration coordinate conversion model is established, and the point clouds obtained by the pipeline measurement system at different poses are converted into the same coordinate system through the coordinate conversion model to complete the point cloud splicing of the whole ring of the inner wall of the pipeline; meanwhile, an error compensation model is built in combination with an optimization algorithm, and accurate splicing of point clouds of different poses is achieved; according to the method, point cloud splicing is achieved without feature points, the pipeline point cloud splicing precision can be optimized, errors are reduced, and the model is simple and clear and easy to operate.

Description

Technical field [0001] The present invention belongs to optical pipeline detection techniques, specifically, relating to a pipe measuring system bit postage method for point cloud splicing. Background technique [0002] In the conduit in-conduit surface study, due to its internal structure limit, the traditional measurement method accuracy is poor, only individual parameters inside the pipeline can not be completed, and the inner surface three-dimensional reconstruction, optical detection technology is high due to its precision, measurement speed The advantages of fast, automation and lossless testing are widely used in the surface detection of the pipeline. Optical detection techniques can directly obtain point cloud features in the inner surface of the pipe, but cannot obtain all circumferential three-dimensional information in the inner surface during the surface detection of the pipe, and cannot meet the needs of three-dimensional reconstruction. Therefore, how to splicing th...

AI Technical Summary

Problems solved by technology

In the rough matching algorithm, the preliminary solution is usually performed by the marker point method, the feature point method, and the turntable pose method. However, due to the space limitation of the inner surface of the pipeline, it is difficult to paste marker points on the measured inner surface, and it is also impossible to calibrate the turntable pose. , especially on the inner surface of a smooth pipe with a fixed inner diameter, the point clouds acquired by images of different poses have little difference, and it is impossible to extract enough feature points for the ICP algorithm to stitch the point cloud

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