Multi-view and multi-pose lock pin point cloud model reconstruction based on turntable

doi:10.3969/j.issn.1000-5641.2024.02.010

Abstract

Abstract:

The surface structure of a container lock pin is complex, making it difficult to establish a point cloud model with a high surface feature integrity. Therefore, a multi-view and multi-attitude point cloud model reconstruction algorithm based on a turntable was proposed to restore the complete surface features of the locking pin. Considering that sensors at a fixed height are paired with rotating turntables in most scenarios, the collected surface features are usually somewhat missing. Initially, the algorithm uses the parameter calibration results of the turntable to realize the multi-view three-dimensional point cloud stitching, and establishes a fixed attitude point cloud model. Then, through the proposed improved spherical projection algorithm, the positioning of the locking pin on the turntable is selected to establish a point cloud model under another posture. Finally, the point cloud model with multiple attitudes is integrated to improve its surface characteristics. Experimental results show that the proposed algorithm can build a lock-pin point cloud model with high surface feature integrity.

Key words: 3D point cloud, turntable, multi-view, multi-pose, lock pin

CLC Number:

TP391

Xin LU, Chang HUANG, Zhiwei JIN. Multi-view and multi-pose lock pin point cloud model reconstruction based on turntable[J]. Journal of East China Normal University(Natural Science), 2024, 2024(2): 86-96.

Figures/Tables 19

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旋转前滤波点云	旋转后滤波点云	粗配准误差/mm	精配准误差/mm
18140	17822	1.93134	0.582154

位置	配准误差/mm
位置一	0.620
位置二	0.589
位置三	0.601
位置四	0.586
位置五	0.592

点云建模场景	点云模型	表面特征覆盖率/%
基于转台的单姿态	姿态点云Q_A	64.80
基于转台的多姿态融合	完整点云模型	98.63

[1]	Zhihong ZHENG, Haichuan SONG. Group contrastive learning for weakly-supervised 3D point cloud semantic segmentation [J]. Journal of East China Normal University(Natural Science), 2024, 2024(2): 108-118.
[2]	Ruibo CUI, Feng WANG. Momentum-updated representation with reconstruction constraint for limited-view 3D object recognition [J]. Journal of East China Normal University(Natural Science), 2023, 2023(6): 61-72.
[3]	Zhiwei JIN, Chang HUANG, Ruihong ZHU. Fast establishment of a point cloud model for a lock pin based onhigh overlapping views [J]. Journal of East China Normal University(Natural Science), 2023, 2023(2): 95-105.