关键词: 三维点云, 采样一致性初始配准算法, 迭代最近点算法

Abstract:

In this paper, we propose a method for fast splicing of three-dimensional point clouds based on the lock pin model on a container terminal using high overlapping views. This experiment first uses an Azure Kinect depth camera to collect scene point clouds, and subsequently preprocesses the point cloud. The target point cloud is thus obtained. For lock pins with slightly different views, the sample consensus initial algorithm (SAC-IA) is used on the basis of the classic iterative closest point (ICP) algorithm to determine the overlapping position relationship of the two point clouds. In the overall splicing process, the relative size of the bounding box area projected by the lock pin in the z-direction of the camera is adopted to estimate the general shape of the lock pin; the relative size of the bounding box area is also used to select an appropriate number of point cloud views with high overlap in order to ensure the accuracy of registration and reduce processing time by comparing the difference between the area of adjacent views. The experimental results show that the proposed method has a lower relative registration error for the lock pin, and can quickly establish a workpiece model suitable for type matching.

Key words: 3D point cloud, sample consensus initial algorithm (SAC-IA), iterative closest point (ICP) algorithm