Registration method for grid point cloud based on improved FPFH

ZHANG Ruxiao; FANG Yu; YANG Hao; HANG Guanrong; TAO Hanzhong; NING Yeyan

doi:10.12299/jsues.21-0086

Volume 37 Issue 4

Dec. 2023

Turn off MathJax

Article Contents

Abstract

References

Article Navigation > Journal of Shanghai University of Engineering Science > 2023 > 37(4): 414-419

ZHANG Ruxiao, FANG Yu, YANG Hao, HANG Guanrong, TAO Hanzhong, NING Yeyan. Registration method for grid point cloud based on improved FPFH[J]. Journal of Shanghai University of Engineering Science, 2023, 37(4): 414-419. doi: 10.12299/jsues.21-0086

Citation:

ZHANG Ruxiao, FANG Yu, YANG Hao, HANG Guanrong, TAO Hanzhong, NING Yeyan. Registration method for grid point cloud based on improved FPFH[J]. Journal of Shanghai University of Engineering Science, 2023, 37(4): 414-419. doi: 10.12299/jsues.21-0086

Citation:

PDF( 1310 KB)

Registration method for grid point cloud based on improved FPFH

doi: 10.12299/jsues.21-0086

1.
School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201620, China
2.
Shanghai Institute of Space Propulsion, Shanghai 201112, China

Received Date: 2022-05-19
Publish Date: 2023-12-30

Abstract

Abstract

An improved fast point feature histogram (FPFH) was proposed for the initial registration of grid point cloud. The neighborhood density was added as a point feature description on the basis of FPFH. When searching the corresponding points with k-dimensional tree (k-d tree), the Bhattacharyya distance was used as the index. This improved method was compared with FPFH in the simulation. Then, the test device was built to collect the grid’s surface point cloud data. The data were registered with improved FPFH method and iterative closest point (ICP). Test results show that the precision level of the matched point cloud is 1 μm and the error range of grid hole stays in ±(20~40) μm, which theoretically satisfy the precision requirement of the grid.
- grid,
- automatic measurement,
- point cloud registration,
- fast point feature histogram (FPFH),
- neighborhood density,
- Bhattacharyya distance

FullText(HTML)

References(10)

References

[1]	BESL P J, MCKAY H D. A method for registration of 3-D shapes[J] . IEEE Transactions on Pattern Analysis & Machine Intelligence,1992,14(2):239 − 256.
[2]	REN Z L, WANG L G, BI L. Robust GICP-Based 3D LiDAR SLAM for underground mining environment[J] . Sensors,2019,19(13):2915. doi: 10.3390/s19132915
[3]	王立玲, 苏华强, 马东. 基于ICP匹配和贝叶斯逆传感器模型的地图构建[J] . 激光杂志,2020,41(12):50 − 56.
[4]	吴义山, 徐增波. 基于相移结构光重建的三维数字化服装建模[J] . 上海工程技术大学学报,2015,29(4):353 − 359.
[5]	罗锦鸿, 陈新度, 吴磊. 基于点云配准的曲面三维差异检测[J] . 组合机床与自动化加工技术,2021(1):96 − 100. doi: 10.13462/j.cnki.mmtamt.2021.01.023
[6]	姚敏, 赵增浩, 赵敏, 等. 复杂结构件内部缺陷检测[J] . 仪器仪表学报,2020,41(10):213 − 220.
[7]	陶谦, 熊风光, 刘涛, 等. 多幅点云数据与纹理序列间的自动配准方法[J] . 计算机工程,2020,46(10):259 − 265, 274.
[8]	宫文. 光栅投影旋转测量中重叠点云消冗与纹理映射研究[D]. 绵阳: 西南科技大学, 2020.
[9]	RUSU R B, BLODOW N, BEETZ M. Fast point feature histograms (FPFH) for 3D registration[C]//Proceeding of IEEE International Conference on Robotics and Automation. Kobe: IEEE, 2009: 3212−3217.
[10]	朱正伟, 祝磊, 饶鹏. 基于BS-HMM和巴式距离的手势识别技术研究[J] . 计算机应用与软件,2019,36(6):163 − 166, 253.

Relative Articles

[1]	GAO Guangya, YAN Juan, YANG Huibin, LIU Yabiao. Visual measurement method for aircraft milling parts' guide hole with interference area[J]. Journal of Shanghai University of Engineering Science, 2024, 38(2): 111-117. doi: 10.12299/jsues.23-0173
[3]	ZHU Meng, MA Qihua. Research on vehicle location of improved point cloud matching algorithm with laser odometer[J]. Journal of Shanghai University of Engineering Science, 2024, 38(1): 7-14. doi: 10.12299/jsues.22-0282
[4]	YE Hongbo, YANG Chao, YIN Zhixiang, YAO Bing. Neighbor full sum distinguishing total coloring of two types of Cartesian product graphs[J]. Journal of Shanghai University of Engineering Science, 2022, 36(1): 91-97. doi: 10.12299/jsues.21-0252
[5]	YANG Hao, NING Yeyan, FANG Yu, LI Haoyu, YANG Yunjie. Distortion compensation method for high-precision point cloud model[J]. Journal of Shanghai University of Engineering Science, 2022, 36(3): 278-283. doi: 10.12299/jsues.21-0249
[6]	QU Yang, LIU Xintian, ZHANG Minghui. Uncertainty Analysis of Fire Water Cannon Jet Targets[J]. Journal of Shanghai University of Engineering Science, 2020, 34(1): 50-53. doi: 10.3969/j.issn.1009-444X.2020.01.009
[7]	DUAN Mingyuan, YAN Ruixia, GAO Pengfei. Risk Dynamic Decision-Making Method Based on Four Reference Point in Cumulative Prospect Theory[J]. Journal of Shanghai University of Engineering Science, 2017, 31(3): 262-266. doi: 10.3969/j.issn.1009-444X.2017.03.016
[8]	WU Shenghai, AN Xiaoxue, HOU Yifen, HE Tianci, WU Jinlan, CHEN Weiang. Extraction of Rail Waist Arc Center in Rail Wear Measurement[J]. Journal of Shanghai University of Engineering Science, 2015, 29(3): 218-221. doi: 10.3969/j.issn.1009-444X.2015.03.006
[9]	LIU Yahui, LIU Shumei, YU Qiuhua. Parametric Design of Stamping Die Guide Parts Based on SolidWorks[J]. Journal of Shanghai University of Engineering Science, 2014, 28(1): 63-67. doi: 10.3969/j.issn.1009-444X.2014.01.014
[10]	LIU Yu, LIU Xiaomei, HU Lei, XIA Yudong. Numerical Analysis of Stress Concentration Factors for U-Shaped Notch with Four-Point Bending[J]. Journal of Shanghai University of Engineering Science, 2014, 28(2): 141-144. doi: 10.3969/j.issn.1009-444X.2014.02.011
[11]	HE Zhiming. Vanishing Points Detection of Perspective Document Based on Projection Profiles of Convex Sets[J]. Journal of Shanghai University of Engineering Science, 2013, 27(2): 166-169. doi: 10.3969/j.issn.1009-444X.2013.02.017
[12]	SHU Jianhong, YANG Yinhua. Application of Siemens S7-400 and WinCC in Substation Automation[J]. Journal of Shanghai University of Engineering Science, 2013, 27(1): 11-16. doi: 10.3969/j.issn.1009-444X.2013.01.003
[13]	JI Ming-quan, CHENG Wu-shan. Design of OPC-Based Automated Production Monitoring System for Low-Voltage Electrical Appliance[J]. Journal of Shanghai University of Engineering Science, 2012, 26(1): 66-69. doi: 10.3969/j.issn.1009-444X.2012.01.016
[14]	JIN Xiaoyi, NIU Dongke, ZHANG Xiangwei. Analysis Software Development for Follower Motion of Cam Mechanism Based on Precision Measurement[J]. Journal of Shanghai University of Engineering Science, 2012, 26(4): 343-346. doi: 10.3969/j.issn.1009-444X.2012.04.013
[15]	HE Zhiming. Vanishing Points Fast Detection of Perspective Document Image[J]. Journal of Shanghai University of Engineering Science, 2012, 26(3): 205-209. doi: 10.3969/j.issn.1009-444X.2012.03.004
[16]	CAI Ye-min, ZHOU Ya-lan, ZHU Rui. Progress of Network Design for Marine Automatic System[J]. Journal of Shanghai University of Engineering Science, 2010, 24(2): 142-144. doi: 10.3969/j.issn.1009-444X.2010.02.012
[17]	HE Zhi-ming. Vanishing Point Detection of Perspective Document Image[J]. Journal of Shanghai University of Engineering Science, 2009, 23(3): 229-232. doi: 10.3969/j.issn.1009-444X.2009.03.011
[18]	ZHANG Mei-ling, YAO Li. Automatic Software Testing Framework Based on the Extraction of Minimized Test Suite[J]. Journal of Shanghai University of Engineering Science, 2009, 23(3): 221-224. doi: 10.3969/j.issn.1009-444X.2009.03.009
[19]	Fixed Points and Iterations of Multi-valued Nonexpansive Mapping[J]. Journal of Shanghai University of Engineering Science, 2003, 17(1): 12-15. doi: 10.3969/j.issn.1009-444X.2003.01.003
[20]	A Simple Regression Method --Three Point Method[J]. Journal of Shanghai University of Engineering Science, 2003, 17(2): 108-112. doi: 10.3969/j.issn.1009-444X.2003.02.007