基于激光扫描仪的点云配准方法

doi:10.3969/j.issn.1000-1158.2024.03.18

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Abstract Aiming at the difficult problem of aligning the incomplete point cloud obtained from the actual scanning of the laser scanner,a registration method based on corresponding point pairs is proposed.Firstly,experiments are conducted by a laser scanner to obtain the measured point cloud data of the measured workpiece and configuration of Point Cloud Library environment based on Visual Studio software to investigate the point cloud alignment of real and ideal models.Secondly,the measured point cloud data are preprocessed by voxel filtering and uniform downsampling.Then,the point cloud data are aligned by corresponding point pairs to provide a better initial value of the transformation for the subsequent fine alignment.The point cloud alignment is realized based on the ICP algorithm to realize the fine alignment.Finally,the root-mean-square error is used as an evaluation index of the accuracy of the point cloud alignment to evaluate the results of the alignment,and the results are analyzed with the aid of the CloudCompare software.The visual display and analysis show that the root mean square error of the alignment can be controlled at 0.62mm in the case where the measured workpiece itself is not absolutely smooth,which proves that the method has better results for the alignment of incomplete point clouds.

Key words： geometric metrology;laser scanner point cloud registration ICP method root mean square error

Received: 23 October 2023 Published: 25 March 2024

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TB92

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	Articles by authors
	CHU Haiman
	CHENG Yinbao
	LI Yaru
	LUO Zai
	JIANG Wensong
	WANG Yan

Cite this article:

CHU Haiman,CHENG Yinbao,LI Yaru, et al. Point Cloud Registration Method Based on Laser Scanner[J]. Acta Metrologica Sinica, 2024, 45(3): 433-439.

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http://jlxb.china-csm.org:81/Jwk_jlxb/EN/10.3969/j.issn.1000-1158.2024.03.18 OR http://jlxb.china-csm.org:81/Jwk_jlxb/EN/Y2024/V45/I3/433

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