CN105574812B - Multi-angle three-dimensional data method for registering and device - Google Patents
Multi-angle three-dimensional data method for registering and device Download PDFInfo
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- G06T3/14—Transformations for image registration, e.g. adjusting or mapping for alignment of images
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Abstract
The invention discloses a kind of multi-angle three-dimensional data method for registering and devices, wherein this method includes：Obtain multigroup three-dimensional data that reference planes often rotate predetermined angle on the turntable of 3 D scanning system；Reference planes are perpendicular to turntable；Every group of three-dimensional data is fitted, multiple fit Planes are obtained；According to the direction of multiple fit Planes and the intersection in same section, the direction of rotation of the shaft of 3 D scanning system is determined；According to the position relationship of the space coordinate of AnchorPoint in shaft and multiple fit Planes and the intersection in same section, the optimal spatial coordinate of shaft is determined；It is registrated according to the 3 d scan data of the optimal spatial coordinate of shaft, the object to be scanned to being obtained under 3 D scanning system.Above-mentioned technical proposal improves the Efficiency and accuracy of multi-angle three-dimensional data registration.
Description
Technical field
The present invention relates to Registration of Measuring Data technical field, more particularly to a kind of multi-angle three-dimensional data method for registering and device.
Background technology
Existing 3D scanning systems are merely able to be scanned the surface visual information in scanning range, in order to obtain object
Complete 3D models, scanner itself need to often be moved, either scanned object is rotated or moved, to complete
The acquisition of object different angle three-dimensional information.Due to the position of scanning system or the variation of object space, each scan data
It is all limited under different scanner coordinate systems or object coordinates system, directly can not orderly be arranged so as to cause output 3D data
It arranges into a unified coordinate system.The complete 3D information of object in order to obtain needs the 3D scan datas to these multi-angles
It is matched.In existing 3D scanning systems, common scan data method for registering has following four：
(1) manual method：Corresponding points are selected in adjacent scan data manually, are then calculated according to the evolution of corresponding points
Transformation matrix is registrated scan data.Such method requires adjacent scan data, and there are larger overlapping regions, this is wanted
It asks and limits scanning rotation angle, so as to cause the reduction of scan efficiency.Another disadvantage of such method is data arrangement
Accuracy depend on the input precision of operating personnel, and for the surface of not obvious characteristic, input precision is just more difficult to
Ensure.It is this kind of nonautomatic method for registering labor intensive again and inefficient.
(2) labelling method：Adhere to upper one small detectable object on scanning object, becomes label or target, by
Operator identifies and is accurately inputted or identify respective point by the image processing algorithm and geometric algorithm of other auxiliary
It is inputted, completes the registration of adjacent scan data.Such method increases compared with manual methods in precision and efficiency
But still there is following disadvantage：1. it must assure that in adjacent twice sweep sight there are the mark point of certain amount, from
And each rotational angle of scanned object is limited, increase scanning times and data volume；2. object sweep make marks or
Additional marking, it is possible to scanning object be damaged, while may lead to sweep object table in the physical size due to label
The covering of face information causes the loss of detail of scan data；3. the number and size that mark can not establish unified standard, mark
The mesh that counts is very little, label deficiency is likely to occur in scan data, number of labels is too many, may cause scan data serious interference
The physical size of problem, label is too small, possibly can not detect, and label physical size is too big, may lead to operator's input precision
Decline.
(3) image and geometric analysis method：Such method is passed through by the image or scan data of detection adjacent view
Detection and extraction feature, while feature is registrated to complete the registration of model.The shortcomings that such method, is：1. method pair
There is limitation, this method unconspicuous in texture unobvious or feature in the surface characteristics and texture of scanning object
Possibly registration task can not be completed；2. method needs to detect the corresponding pixel points of adjacent picture or detects adjacent scan data
Character pair point, algorithm is computationally intensive, and error source can not ensure；3. passing through pixel matching and the matched side of geometric properties
Method needs adjacent scan data there are certain overlapping areas to detect character pair, so as to cause the movement of scanning visual angle
The limitation of angle increases scanning times, the scan efficiency of reduction.
(4) disk axes labelling method：By calculating coordinate of the turntable axis in scanner coordinate system, while passing through acquisition
Rotation angle calculates the coordinate transforming of every scan data, to completing data whole registration.At present existing for such method
Problem is accurately to demarcate turntable rotary shaft into scanner coordinate system.Such usual calibration is all demarcated using ball,
However due to scanner limited viewing angle, sweep to that area of spherical surface is limited every time, passes through the centre of sphere of the Fitting Calculation spherical displacer, algorithm itself
It there is error of fitting.Bead is moved by turntable simultaneously, obtains three sphere center positions and be fitted again to calculate turntable axis
Heart position.It is obtained after slightly matching data by the axle center of calculating later, further thin registration is carried out to data.Such method can not
It is detached from the fine step of registration of scan data, registration efficiency is low, and the applicability of existing all kinds of fine registration Algorithms is limited, nothing
The essence that method completes all models using a kind of algorithm is registrated, and due to algorithmic stability sex chromosome mosaicism, needs artificially to sentence after registration every time
It is disconnected, labor intensive.Another method is to put planar object in spindle central, the panel data obtained by Multiple-Scan
Intersection needs planar object placement position very accurate as shaft, there is higher operation requirement, it is difficult to ensure every time at
Work(.
With the extensive use of 3D digitizing techniques, existing 3D scanning techniques develop toward the direction of automation, also
It is that the slave all angles automated carry out 3D scannings to object, then realizes the full-automatic registration process of multi-angle 3D data.Its
In involved critical issue be how accurate simplicity realizations multi-angle 3D information autoregistration, at present using more
It is exactly then matching for object multi-angle 3D information is realized according to known rotation angle using precise rotating platform control object rotation
It is accurate.In the prior art with multi-angle 3D information to be registrated similar example mainly include following several：
(1) Chinese patent application the 200410031157th discloses a kind of based on large scale scene multiple views laser scanning
The method of data automatic registration.Three-dimensional feature reflect in scene structure feature, simplify the geometry complexity of scene, be
Effective primitive of multiple views three-dimensional data registration.The invention ensure laser range finder Z axis perpendicular to the ground, and X is parallel with Y-axis
Scan data is obtained in the case of ground, while ensuring that adjacent viewpoint scan data keeps the overlapping of 10%-20%；Extract quilt
Scene immanent structure feature is surveyed, the geometry complexity of scene is simplified；By calculating virtual feature with construction feature unit to data
Carry out rough registration essence registration and global registration.The scene multiple views laser scanning data that the invention is suitable for modern structure is matched automatically
It is accurate.
(2) Chinese patent application the 03817891st discloses a kind of equipment using optics auto arrangement 3D scan datas
And method, wherein use non-contact type label that will not damage object automatically to arrange 3D data, while will not lose
Scanned part.The equipment is swept for auto arrangement by shooting the 3D that object is obtained at different angles using optical markings
Data are retouched, which includes：Tag producing apparatus rolls into a ball grenade instrumentation for multiple optical markings to be projected body surface
For by pattern projection on the surface of the object to obtain the 2D picture numbers including being incident upon the object on the surface of the object
According to, and obtain for the pattern by being incident upon on the body surface 3D scan datas of the object；Image-acquisition device is used
Obtain the 2D image datas of the object on the surface of the object including being incident upon in acquisition, and for by being incident upon the object
Pattern on surface obtains the 3D scan datas of the object；And control device, for scanning number from the 2D image datas and 3D
Relationship between calculates the positions 3D of label, and the positions 3D based on label calculate the relative position of the 3D scan datas.
(3) Chinese patent application the 200710018782nd discloses a kind of multi-view angle three-dimensional human face scanning data and matches automatically
Quasi- method, its main feature is that including the following steps：Multi-view angle three-dimensional human face scanning data is subjected to reference axis conversion with PCA methods,
Its Shape Index value is calculated to transformed model, and several characteristic areas are filtered out using the method for Threshold segmentation；It utilizes
Region Relative distribution feature carrys out the screening of constraint, finally orients mark region；In glasses, the tail of the eye and prenasale area
Domain；Mark region is registrated using ICP methods, the conversion parameter that this region A Yong of whole scanning data is registrated
It carries out coordinate and comments mobile and rotation transformation, complete registration.Since rough registration of the present invention uses the method that reference axis is converted, with
Global feature replaces individual point feature, reduces error caused by characteristic point monitoring；Essence registration is only to the characteristic area of proposition
Registration interative computation is carried out, computational complexity is reduced, realizes the autoregistration of multi-pose 3 d scan data.
(4) Chinese patent application the 200710122787th discloses a kind of automatic machine of identification and definition global coordinate system
System, this global coordinate system are best suited for forming the set of the original 3D scan datas of grid model.More specifically, it is identified
Coordinate system can minimize the summation of offset error, while minimizing the peak error of original 3D scan datas.The invention with
The coordinate system that completely automatically mode is suitble to from original 3D scan datas search.Whole offset error minimum can be made by identifying
Multiple coordinate systems, and be presented to the user.Before the alignment based on selected coordinate system transformation 3D scan datas, also terminal is allowed to use
Interactively edit the coordinate system parameters of suggestion in family.
(5) Chinese patent application the 200810224183rd discloses a kind of depth image of combination texture information and matches automatically
Quasi- method, is used for the reconstruction of various real-world object threedimensional models, and step is：1. being extracted from scan data or according to depth map
As generating texture image；2. based on SIFT feature extract texture image in interest pixel, and by the method for crosscheck from
In find out the Candidate Set of matched pixel pair；3. finding out correct matched pixel pair in Candidate Set according to geological information constraint；4.
Matching vertex pair corresponding with matched pixel is found out in three dimensions, calculates the Worker's Stadium permutation matrix between two amplitude deepness images；
5. optimizing this result using improved ICP algorithm；6. two deepness image registrations are based on, by the list entries of more degree depth images
It is divided into several banded subsequences；7. merging these subsequences using a kind of strategy searched for forward, and construct complete three
Dimension module.It should invent and can be used for completing extensive 3 d scan data, generate threedimensional model.
(6) Chinese patent application the 02138210.7th, which discloses, realizes that the acquisition of three-dimensional camera various visual angles data and alignment are multiple
The method of position, this method are that one kind progress body surface three-dimensional data various visual angles on the basis of single visual angle three-dimensional camera are adopted
Collect, and the alignment of data that each visual angle is acquired resets the method in the same space coordinates, this method is using one
A single-view three-dimensional camera and a turntable, turntable is placed in effective viewfinder range in front of three-dimensional camera, is being rotated
A bead is placed on platform, and parameter calibration is carried out to the bead on turntable with single-view three-dimensional camera；By the surface of measured object
The acquisition of various visual angles data is done, the data of acquisition are finally subjected to alignment, exports the complete three-dimensional data in testee surface.
The present invention can carry out various visual angles acquisition with single-view three-dimensional camera, and automatic right to the three-dimensional data progress of each visual angle acquisition
Together, it resets.
It is flat based on precise rotation by above-mentioned it is found that in order to realize the autoregistration problem of data after multi-angle 3D scanning
The 3D scan methods of platform, object is placed on turntable, is controlled its rotational angle by computer, is realized object different angle
3D acquisition of information, and then realize the automatic Mosaic of multi-angle 3D data in conjunction with the rotational angle of turntable.Involved by this method
Main problem be turntable shaft calculating, that is, determine spatial position of the shaft relative to 3D scanning means, currently used side
Method is to calculate the position in its accurate axle center and axis by the approximating method of the objects such as sphere or plane, but this method
Precision depends on the accuracy of object placement position, if placement position deviates from the axle center of turntable, is difficult to accurately calculate and turns
Whether axis generally requires multi-pass operation, be satisfied with, operated more numerous come definitive result by micro-judgment and artificial observation
It is trivial.
Therefore, in existing multi-angle 3D scanning data automatic registration schemes, the space of shaft in 3 D scanning system is determined
The method of parameter is complicated for operation, and efficiency and precision are low, and it is complicated for operation to also result in multi-angle 3D scanning data automatic registrations in this way,
Efficiency and precision are low.
Invention content
An embodiment of the present invention provides a kind of multi-angle three-dimensional data method for registering, match to improve multi-angle three-dimensional data
Accurate Efficiency and accuracy, this method include：
Obtain multigroup three-dimensional data that reference planes often rotate predetermined angle on the turntable of 3 D scanning system；With reference to flat
Face is perpendicular to turntable；
Every group of three-dimensional data is fitted, multiple fit Planes are obtained；
According to the direction of multiple fit Planes and the intersection in same section, the rotation side of the shaft of 3 D scanning system is determined
To；
According to the position relationship of the space coordinate of AnchorPoint in shaft and multiple fit Planes and the intersection in same section, really
Determine the optimal spatial coordinate of shaft；
According to the optimal spatial coordinate of shaft, the 3-D scanning number to the object to be scanned obtained under 3 D scanning system
According to being registrated.
On the other hand, an embodiment of the present invention provides a kind of multi-angle three-dimensional data registration apparatus, to improve multi-angle
The Efficiency and accuracy of three-dimensional data registration, the device include：
Three-dimensional data acquiring unit often rotates predetermined angle for obtaining reference planes on the turntable of 3 D scanning system
Multigroup three-dimensional data；Reference planes are perpendicular to turntable；
Three-dimensional data fitting unit obtains multiple fit Planes for being fitted to every group of three-dimensional data；
Rotor shaft direction determination unit determines three-dimensional for the direction according to multiple fit Planes and the intersection in same section
The direction of rotation of the shaft of scanning system；
Shaft space coordinate determination unit, for according to the space coordinate of AnchorPoint in shaft and multiple fit Planes and together
The position relationship of the intersection in one section determines the optimal spatial coordinate of shaft；
Registration of Measuring Data unit waits sweeping for the optimal spatial coordinate according to shaft to what is obtained under 3 D scanning system
The 3 d scan data for retouching object is registrated.
Compared with prior art, technical solution provided in an embodiment of the present invention is determining 3-D scanning shaft space ginseng
When number, object of reference is calculated without artificially accurately putting shaft, substantially puts, reduces the complexity of operation；Utilize one
Simply perpendicular to the reference planes of turntable, it is not required to be strictly placed in turntable center position, obtains reference planes in turntable
On often rotate multigroup three-dimensional data of predetermined angle every group of three-dimensional data be fitted, is obtained more by plane fitting means
A fit Plane；According to the direction of multiple fit Planes and the intersection in same section, the rotation of the shaft of 3 D scanning system is determined
Turn direction；According to the position relationship of the space coordinate of AnchorPoint in shaft and multiple fit Planes and the intersection in same section, essence
The optimal spatial coordinate of a central point (AnchorPoint) in shaft really is solved, and then determines the optimal spatial of shaft completely
Coordinate improves the Efficiency and accuracy of determining 3 D scanning system shaft spatial parameter, ensures subsequent accurately multi-angle
3D Registration of Measuring Data；Finally, according to the optimal spatial coordinate of shaft, to the object to be scanned obtained under the 3 D scanning system
3 d scan data be registrated, this improves multi-angle three-dimensional data registration Efficiency and accuracy.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and is constituted part of this application, not
Constitute limitation of the invention.In the accompanying drawings：
Fig. 1 is the flow diagram of multi-angle three-dimensional data method for registering in the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the 3 D scanning system in the embodiment of the present invention；
Fig. 3 be linear optimization function is established in the embodiment of the present invention, showing of solving that optimal shaft spatial parameter is applied to
It is intended to；
Fig. 4 is the structural schematic diagram of multi-angle three-dimensional data registration apparatus in the embodiment of the present invention.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer, right with reference to embodiment and attached drawing
The present invention is described in further details.Here, the exemplary embodiment and its explanation of the present invention be for explaining the present invention, but simultaneously
It is not as a limitation of the invention.
In order to realize the autoregistration problem of data after multi-angle 3D scanning, occur sweeping based on the 3D of precise rotation platform
Method is retouched, object is placed on turntable, its rotational angle is controlled by computer, realizes that the 3D information of object different angle obtains
It takes, and then the automatic Mosaic of multi-angle 3D data is realized in conjunction with the rotational angle of turntable.Mainly asking involved by this method
Topic is the calculating of turntable shaft, that is, determines spatial position of the shaft relative to 3D scanning means, currently used method is to pass through
The approximating methods of the objects such as sphere or plane calculates the position in its accurate axle center and axis.
But inventor has found：The precision of this method depends on the accuracy of object placement position, if placement position is inclined
Axle center from turntable is then difficult to accurately calculate shaft, generally requires multi-pass operation, by micro-judgment and artificial observation come really
Determine whether result is satisfied with, operates relatively complicated.
In order to solve this problem, the present invention proposes a kind of multi-angle three-dimensional data method for registering, and this method is true
When determining 3-D scanning shaft spatial parameter, shaft need not be accurately put, calculates the optimized calculation method of object of reference, first by one
A planar object is placed on turntable, is rotated 4-5 times by controlling turntable, is rotated 10-20 degree every time, obtains 4-5 group planes
3D data obtain the intersection direction between the space equation and each plane of this several groups of planes by plane fitting, because with reference to flat
Face is vertical with turntable, therefore this group of intersection direction is the direction of shaft, and in order to determine the position of shaft, we, which also need to determine, turns
A spatial point position on axis, by simple geometrical analysis, we are it is not difficult to find that point arrives this group of plane each of in shaft
The distance of intersection is equal, is based on the phenomenon, we can establish a simple majorized function, seek the shaft of error minimum
Center, and then can determine exact position of the shaft under 3 D scanning system referential, and then each group can be scanned
Data realize accurate registration according to its scheduled rotation angle.The method carried is easy to operate, and computation complexity is low, as a result smart
Really, it can accurately obtain and turn to avoid existing method complicated iterative process (ICP, [1-2]) as used by ICP algorithm etc.
Shaft position simultaneously realizes fine full-automatic registration operation.
The work sheet of entire 3D scanning systems is that object is placed on precise rotation platform, its rotation is controlled by computer
Turn, the 3D information of different angle is obtained by 3D scanners, and then complete the registration of subsequent multi-angle 3D information.
Assuming that the actual shaft L of turntable is defined by point A (a, b, c) and a vector V (u, v, w), it is pivoted the rotation of θ
Matrix is：
In order to realize the autoregistration of multigroup 3D scan datas, we only need to solve point A and direction vector V.
Therefore, first, we place a L-type plane (or other types of plane, as long as ensureing on turntable
The plane is vertical with turntable plane), to ensure that plane is vertical with turntable plane, driving turntable rotation is multiple, obtains different
The plane 3D data under angle are gone to, are fitted, and then obtain multigroup plane intersection line, multigroup intersection directioin parameter is calculated and asks flat
, you can obtain rotor shaft direction parameter V；
Secondly, it is assumed that point A (a, b, c) is a point coordinates in shaft, and the intersection apart from each group fit Plane should have
Equidistant characteristic, therefore establish a simple linear optimization function, you can the optimum position of A is solved, and then can be complete
The full spatial parameter information for determining shaft.
It describes in detail first below to multi-angle three-dimensional data method for registering.
Fig. 1 is the flow diagram of multi-angle three-dimensional data method for registering in the embodiment of the present invention, and Fig. 2 is implementation of the present invention
The structural schematic diagram of 3 D scanning system in example, as depicted in figs. 1 and 2, this method comprises the following steps：
Step 101：Obtain multigroup three dimension that reference planes often rotate predetermined angle on the turntable of 3 D scanning system
According to；The reference planes are perpendicular to the turntable；
Step 102：Every group of three-dimensional data is fitted, multiple fit Planes are obtained；
Step 103：According to the direction of multiple fit Planes and the intersection in same section, the shaft of 3 D scanning system is determined
Direction of rotation；
Step 104：According to the position of the space coordinate of AnchorPoint in shaft and multiple fit Planes and the intersection in same section
Relationship is set, determines the optimal spatial coordinate of shaft；
Step 105：According to the optimal spatial coordinate of shaft, to the object to be scanned obtained under the 3 D scanning system
3 d scan data be registrated.
Compared with prior art, technical solution provided in an embodiment of the present invention is determining 3-D scanning shaft space ginseng
When number, object of reference is calculated without artificially accurately putting shaft, substantially puts, reduces the complexity of operation；Utilize one
Simply perpendicular to the reference planes of turntable, it is not required to be strictly placed in turntable center position, obtains reference planes in turntable
On often rotate multigroup three-dimensional data of predetermined angle every group of three-dimensional data be fitted, is obtained more by plane fitting means
A fit Plane；According to the direction of multiple fit Planes and the intersection in same section, the rotation of the shaft of 3 D scanning system is determined
Turn direction；According to the position relationship of the space coordinate of AnchorPoint in shaft and multiple fit Planes and the intersection in same section, essence
The optimal spatial coordinate of a central point (AnchorPoint) in shaft really is solved, and then determines the optimal spatial of shaft completely
Coordinate improves the Efficiency and accuracy of determining 3 D scanning system shaft spatial parameter, ensures subsequent accurate multi-angle 3D
Registration of Measuring Data；Finally, according to the optimal spatial coordinate of shaft, to the object to be scanned that is obtained under the 3 D scanning system
3 d scan data is registrated, and therefore, is reduced the operation complexity of multi-angle three-dimensional data registration, is improved multi-angle three
The Efficiency and accuracy of dimension data registration.
The three-dimensional data mentioned in the embodiment of the present invention can be three dimensional point cloud.
It is described in detail below in above-mentioned steps 101, the acquisition and processing of reference planes data：
Reference planes are placed on turntable, it is not required to pass through turntable center；
Concrete operations can be：It controls turntable to rotate 4-5 times, rotates 10-20 degree every time, obtain the 3D numbers of 4-5 group planes
According to.
It is described below in above-mentioned steps 102, every group of three-dimensional data is fitted, multiple fit Planes are obtained：
After three-dimensional data under the different angle for obtaining reference planes, it is being fitted to every group of three-dimensional data
Before, the operation that can also be carried out includes：Denoising is carried out to the point cloud data of obtained multiple fit Planes, utilizes minimum two
The method for multiplying fitting finds out the equation of each plane and is：
Aix+Biy+Ciz+Di=0 (1)
The calculating of rotor shaft direction in above-mentioned steps 103 is described below：
Since reference planes are vertical with turntable table top, we can be obtained by calculating the intersection of several groups of fit Planes
Rotor shaft direction：
Since the direction of shaft has determined that, we using the rotor shaft direction found out as normal vector construct one it is new
Plane：
nxx+nyy+nzZ=0 (3)
The new plane so constructed cuts each cloud plane can be with as shown in figure 3, new plane section cloud shown in Fig. 3 be flat
The intersection l in faceiEquation be expressed as：
In one embodiment, above-mentioned steps 104 may include：
Multiple AnchorPoints are found, calculate separately each AnchorPoint to multiple fit Planes at a distance from the intersection in same section
Between error；According to each AnchorPoint to multiple fit Planes at a distance from the intersection in same section between error, find
Optimal AnchorPoint space coordinate；
According to optimal AnchorPoint space coordinate, the optimal spatial coordinate of shaft is determined.
In one embodiment, multiple AnchorPoints are found, calculate separately each AnchorPoint to multiple fit Planes with it is same
Error between the distance of the intersection in section；According to each AnchorPoint to multiple fit Planes at a distance from the intersection in same section
Between error, find optimal AnchorPoint space coordinate, may include：
According to linear optimization function, iteration finds optimal AnchorPoint space coordinate, and each iteration cycle is performed both by
It operates below：
Each AnchorPoint is calculated to multiple fit Planes at a distance from the intersection in same section；
Calculate each AnchorPoint to multiple fit Planes at a distance from the intersection in same section between error, until finding
AnchorPoint to multiple fit Planes at a distance from the intersection in same section between error minimum when, the space of corresponding AnchorPoint
Coordinate, as optimal AnchorPoint space coordinate；
The linear optimization function is the space coordinate and multiple fit Planes and same section according to AnchorPoint in shaft
Intersection position relationship establish.
In one embodiment, linear optimization function can be：
Wherein, diFor from i-th intersection to the distance of AnchorPoint, djFor the distance from j-th strip intersection to AnchorPoint, O is to wait for
Ask the space coordinate of AnchorPoint, OinitFor initial AnchorPoint space coordinate.
Countershaft central point (AnchorPoint) calculates below and the derivation of linear optimization function describes in detail.
It analyzed above：The distance of spindle central (rotating shaft core point) O to each straight line is equal.Wherein, as shown in figure 3, turning
Axis center is to straight line liDistance can be expressed as：
Wherein：
Since spindle central is in the plane of construction, then we can obtain：
Since the distance of spindle central to each straight line is equal, so having：
Form by converting (7) to matrix expression can obtain
Wherein matrix S is vector [Ox,Oy,Oz]TCoefficient factor.Utilize SVD (singular value
Decomposition method, singular value decomposition method) it can be in the hope of an initial spindle central.By right：
Carry out a simple linear optimization and solve to can be obtained accurate spindle central point coordinates, it is known that rotor shaft direction and
Certain point thereon, you can the accurate spatial parameter for determining shaft under 3D scanning systems, and then can be according to the angle of rotation of turntable
The 3D data of follow up scan are carried out accurate by degree and simply autoregistration operates.
Two intersection l have only symbolically been marked in Fig. 3iAnd lj, actually calculating friendship of the AnchorPoint to every group of fit Plane
It is the error amount of distance between all intersections and AnchorPoint on figure to be calculated when error between the distance of line.
When it is implemented, in the embodiment of the present invention, according to the space coordinate of AnchorPoint in shaft and multiple fit Planes with
The position relationship of the intersection in same section determines the space coordinate of shaft, can by linear optimization function mentioned above come
Indicate above-mentioned relation.Certainly, except through establishing linear optimization function, carry out the mode that iteration finds optimal shaft space coordinate
Except, it can also be there are many mode, for example, can be intended with multiple by establishing a space coordinate according to AnchorPoint in shaft
Plane and the table of position relationship of intersection in same section etc. mode are closed, to find optimal shaft space coordinate.
In one embodiment, turntable can be numerical control rotating platform.Certainly, numerical control rotating platform also can use manual turntable to substitute,
It need to only ensure the accuracy of rotational angle when operation.
In an example, can also include：Denoising is carried out to multigroup three-dimensional data of acquisition；
Every group of three-dimensional data is fitted, including：Every group of three-dimensional data after denoising is fitted.It is such
Design ensure that the accuracy of determining shaft spatial parameter and three-dimensional data registration.
Based on same inventive concept, a kind of multi-angle three-dimensional data registration apparatus is additionally provided in the embodiment of the present invention, such as
The following examples.The principle and multi-angle three-dimensional data method for registering solved the problems, such as due to multi-angle three-dimensional data registration apparatus
It is similar, therefore the implementation of multi-angle three-dimensional data registration apparatus can join the implementation of multi-angle three-dimensional data method for registering, repeat
Place repeats no more.Used below, the software and/or hardware of predetermined function may be implemented in term " unit " or " module "
Combination.Although device described in following embodiment is preferably realized with software, hardware or software and hardware
The realization of combination is also that may and be contemplated.
Fig. 4 is the structural schematic diagram of multi-angle three-dimensional data registration apparatus in the embodiment of the present invention, as shown in figure 4, the dress
Set including：
Three-dimensional data acquiring unit 10 often rotates preset angle for obtaining reference planes on the turntable of 3 D scanning system
Multigroup three-dimensional data of degree；The reference planes are perpendicular to the turntable；
Three-dimensional data fitting unit 20 obtains multiple fit Planes for being fitted to every group of three-dimensional data；
Rotor shaft direction determination unit 30 determines three for the direction according to multiple fit Planes and the intersection in same section
Tie up the direction of rotation of the shaft of scanning system；
Shaft space coordinate determination unit 40, for according to the space coordinate of AnchorPoint in shaft and multiple fit Planes with
The position relationship of the intersection in same section determines the optimal spatial coordinate of shaft；
Registration of Measuring Data unit 50, for the optimal spatial coordinate according to shaft, to being obtained under the 3 D scanning system
The 3 d scan data of object to be scanned be registrated.
In one embodiment, shaft space coordinate determination unit 40 can be specifically used for：
Multiple AnchorPoints are found, calculate separately each AnchorPoint to multiple fit Planes at a distance from the intersection in same section
Between error；According to each AnchorPoint to multiple fit Planes at a distance from the intersection in same section between error, find
Optimal AnchorPoint space coordinate；
According to optimal AnchorPoint space coordinate, the optimal spatial coordinate of shaft is determined.
In one embodiment, multiple AnchorPoints are found, calculate separately each AnchorPoint to multiple fit Planes with it is same
Error between the distance of the intersection in section；According to each AnchorPoint to multiple fit Planes at a distance from the intersection in same section
Between error, find optimal AnchorPoint space coordinate, including：
According to linear optimization function, iteration finds optimal AnchorPoint space coordinate, and each iteration cycle is performed both by
It operates below：
Each AnchorPoint is calculated to multiple fit Planes at a distance from the intersection in same section；
Calculate each AnchorPoint to multiple fit Planes at a distance from the intersection in same section between error, until finding
AnchorPoint to multiple fit Planes at a distance from the intersection in same section between error minimum when, the space of corresponding AnchorPoint
Coordinate, as optimal AnchorPoint space coordinate；
The linear optimization function is the space coordinate and multiple fit Planes and same section according to AnchorPoint in shaft
Intersection position relationship establish.
In one embodiment, linear optimization function can be：
Wherein, diFor from i-th intersection to the distance of AnchorPoint, djFor the distance from j-th strip intersection to AnchorPoint, O is to wait for
Ask the space coordinate of AnchorPoint, OinitFor initial AnchorPoint space coordinate.
In conclusion the advantageous effects of technical solution provided in an embodiment of the present invention are：
(1) when determining 3-D scanning shaft spatial parameter, object of reference is calculated without artificially accurately putting shaft, is substantially put
It puts, reduces the complexity of operation；
(2) require no knowledge about the mark point in reference planes, but based on the space equation of entire reference planes into
Row calculates, and the 3D reconstructing systems error of itself will not have a significant impact the fitting result of entire reference planes, therefore ensure that
The stability of operation；
(3) by establishing a linear optimization function, the space for accurately solving central point in shaft (AnchorPoint) is sat
Mark, ensure that the accuracy of result.
Obviously, those skilled in the art should be understood that each module, device or each step of the above-mentioned embodiment of the present invention
It can be realized with general computing device, they can be concentrated on a single computing device, or be distributed in multiple calculating
On the network that device is formed, optionally, they can be realized with the program code that computing device can perform, it is thus possible to
It is stored in storage device and is performed by computing device, and in some cases, it can be with suitable different from herein
Sequence executes shown or described step, and either they are fabricated to each integrated circuit modules or will be in them
Multiple modules or step are fabricated to single integrated circuit module to realize.In this way, the embodiment of the present invention be not limited to it is any specific
Hardware and software combine.
It these are only the preferred embodiment of the present invention, be not intended to restrict the invention, for those skilled in the art
For member, the embodiment of the present invention can have various modifications and variations.All within the spirits and principles of the present invention, any made by
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of multi-angle three-dimensional data method for registering, which is characterized in that
Obtain multigroup three-dimensional data that reference planes often rotate predetermined angle on the turntable of 3 D scanning system；The reference is flat
Face is perpendicular to the turntable；
Every group of three-dimensional data is fitted, multiple fit Planes are obtained；
According to the direction of multiple fit Planes and the intersection in same section, the direction of rotation of the shaft of 3 D scanning system is determined；
According to the position relationship of the space coordinate of AnchorPoint in shaft and multiple fit Planes and the intersection in same section, determines and turn
The optimal spatial coordinate of axis；
According to the optimal spatial coordinate of shaft, the 3-D scanning number to the object to be scanned obtained under the 3 D scanning system
According to being registrated；
According to the position relationship of the space coordinate of AnchorPoint in shaft and multiple fit Planes and the intersection in same section, determines and turn
The optimal spatial coordinate of axis, including：
Find multiple AnchorPoints, calculate separately each AnchorPoint to multiple fit Planes at a distance from the intersection in same section between
Error；According to each AnchorPoint to multiple fit Planes at a distance from the intersection in same section between error, find optimal
AnchorPoint space coordinate；
According to optimal AnchorPoint space coordinate, the optimal spatial coordinate of shaft is determined.
2. multi-angle three-dimensional data method for registering as described in claim 1, which is characterized in that find multiple AnchorPoints, respectively
Calculate each AnchorPoint to multiple fit Planes at a distance from the intersection in same section between error；It is arrived according to each AnchorPoint
Multiple fit Planes at a distance from the intersection in same section between error, find optimal AnchorPoint space coordinate, including：
According to linear optimization function, iteration finds optimal AnchorPoint space coordinate, each iteration cycle is performed both by following
Operation：
Each AnchorPoint is calculated to multiple fit Planes at a distance from the intersection in same section；
Calculate each AnchorPoint to multiple fit Planes at a distance from the intersection in same section between error, until finding axle center
When putting the error minimum between arriving multiple fit Planes at a distance from the intersection in same section, the space of corresponding AnchorPoint is sat
Mark, as optimal AnchorPoint space coordinate；
The linear optimization function is the friendship according to the space coordinate and multiple fit Planes and same section of AnchorPoint in shaft
What the position relationship of line was established.
3. multi-angle three-dimensional data method for registering as claimed in claim 2, which is characterized in that the linear optimization function is：
S.t.O=Oinit；
Wherein, diFor from i-th intersection to the distance of AnchorPoint, djFor the distance from j-th strip intersection to AnchorPoint, O is axis to be asked
The space coordinate of heart point, OinitFor initial AnchorPoint space coordinate.
4. multi-angle three-dimensional data method for registering as described in claim 1, which is characterized in that the turntable is numerical control rotating platform.
5. multi-angle three-dimensional data method for registering as described in claim 1, which is characterized in that further include：To the multigroup of acquisition
Three-dimensional data carries out denoising；
Every group of three-dimensional data is fitted, including：Every group of three-dimensional data after denoising is fitted.
6. a kind of multi-angle three-dimensional data registration apparatus, which is characterized in that including：
Three-dimensional data acquiring unit often rotates the more of predetermined angle for obtaining reference planes on the turntable of 3 D scanning system
Group three-dimensional data；The reference planes are perpendicular to the turntable；
Three-dimensional data fitting unit obtains multiple fit Planes for being fitted to every group of three-dimensional data；
Rotor shaft direction determination unit determines 3-D scanning for the direction according to multiple fit Planes and the intersection in same section
The direction of rotation of the shaft of system；
Shaft space coordinate determination unit, for the space coordinate and multiple fit Planes and same section according to AnchorPoint in shaft
The position relationship of the intersection in face determines the optimal spatial coordinate of shaft；
Registration of Measuring Data unit waits sweeping for the optimal spatial coordinate according to shaft to what is obtained under the 3 D scanning system
The 3 d scan data for retouching object is registrated；
The shaft space coordinate determination unit is specifically used for：
Find multiple AnchorPoints, calculate separately each AnchorPoint to multiple fit Planes at a distance from the intersection in same section between
Error；According to each AnchorPoint to multiple fit Planes at a distance from the intersection in same section between error, find optimal
AnchorPoint space coordinate；
According to optimal AnchorPoint space coordinate, the optimal spatial coordinate of shaft is determined.
7. multi-angle three-dimensional data registration apparatus as claimed in claim 6, which is characterized in that find multiple AnchorPoints, respectively
Calculate each AnchorPoint to multiple fit Planes at a distance from the intersection in same section between error；It is arrived according to each AnchorPoint
Multiple fit Planes at a distance from the intersection in same section between error, find optimal AnchorPoint space coordinate, including：
According to linear optimization function, iteration finds optimal AnchorPoint space coordinate, each iteration cycle is performed both by following
Operation：
Each AnchorPoint is calculated to multiple fit Planes at a distance from the intersection in same section；
Calculate each AnchorPoint to multiple fit Planes at a distance from the intersection in same section between error, until finding axle center
When putting the error minimum between arriving multiple fit Planes at a distance from the intersection in same section, the space of corresponding AnchorPoint is sat
Mark, as optimal AnchorPoint space coordinate；
The linear optimization function is the friendship according to the space coordinate and multiple fit Planes and same section of AnchorPoint in shaft
What the position relationship of line was established.
8. multi-angle three-dimensional data registration apparatus as claimed in claim 7, which is characterized in that the linear optimization function is：
S.t.O=Oinit；
Wherein, diFor from i-th intersection to the distance of AnchorPoint, djFor the distance from j-th strip intersection to AnchorPoint, O is axis to be asked
The space coordinate of heart point, OinitFor initial AnchorPoint space coordinate.
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| CN106845543B (en) * | 2017-01-19 | 2019-12-27 | 天津大学 | Three-dimensional model classification method based on feature matching |
| CN109840882B (en) * | 2018-12-24 | 2021-05-28 | 中国农业大学 | Station matching method and device based on point cloud data |
| CN110335295B (en) * | 2019-06-06 | 2021-05-11 | 浙江大学 | Plant point cloud acquisition registration and optimization method based on TOF camera |
| CN111161327A (en) * | 2019-12-31 | 2020-05-15 | 电子科技大学 | Point cloud registration method combining rotary platform and ICP (inductively coupled plasma) |
| CN113744378B (en) * | 2020-05-27 | 2024-02-20 | 成都数字天空科技有限公司 | Exhibition article scanning method and device, electronic equipment and storage medium |
| CN112233005B (en) * | 2020-09-21 | 2024-02-09 | 中国铁道科学研究院集团有限公司通信信号研究所 | Three-dimensional logo watermark generation method of train dispatching terminal |
| CN112597574B (en) * | 2020-12-21 | 2024-04-16 | 福建汇川物联网技术科技股份有限公司 | Construction method and device of building information model |
| CN113155510B (en) * | 2021-04-16 | 2024-05-10 | 伊达生物有限公司 | Tissue cell segmentation sampling system and method |
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