基于对偶四元数构建的直线基元点云拼接方法 
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Line Primitive Point Cloud Registration Method Based on Dual Quaternion
太原理工大学矿业工程学院, 山西 太原 030024
图 & 表
图 1. 点云拼接示意图
Fig. 1. Diagram of point cloud registration
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图 2. 点云拼接简化示意图
Fig. 2. Simplified diagram of point cloud registration
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图 3. 点云拼接算法流程图
Fig. 3. Flowchart of point cloud registration algorithm
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图 4. 点云数据。(a)待拼接测站;(b)基准测站
Fig. 4. Point cloud data. (a) Unregistrated station; (b) reference station
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图 5. 同名直线的空间分布。(a)拼接前; (b)拼接后
Fig. 5. Spatial distributions of homonymous lines. (a) Before registration; (b) after registration
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图 6. 本文方法目视效果。(a)拼接前;(b)拼接后
Fig. 6. Visual effects of proposed method. (a) Before registration; (b) after registration
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图 7. 拼接后的目视效果。(a)文献[
12];(b)文献[
16]
Fig. 7. Visual effects after registration. (a) Method in Ref. [12]; (b) method in Ref. [16]
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表 1不同方法的计算结果及耗时对比
Table1. Comparison of results and time consumption of different methods
| Method | Proposed method | Method in Ref. [12] | Method in Ref. [16] |
|---|
| λ | 1.0009 | 0.9999 | 1.0005 | | φ /(°) | -10.4772 | -10.4494 | -10.4562 | | ω /(°) | -7.0829 | -7.0653 | -7.0710 | | κ /(°) | 28.8969 | 28.8920 | 28.8998 | | X0 /m | -22.9648 | -22.9776 | -22.9683 | | Y0 /m | 29.4204 | 29.4060 | 29.4138 | | Z0 /m | -2.3315 | -2.2842 | -2.2975 | | Time /s | 0.1250 | 0.1460 | 0.1840 |
|
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表 2点云拼接后不同方法计算的同名直线单位向量与矩向量偏差中误差对比
Table2. Comparison of medium errors of unit vector and moment vector deviations of homonymous lines calculated by different methods after registration
| Method | ΔlX | ΔlY | ΔlZ | Mean squareerror mΔl /m | ΔsX | ΔsY | ΔsZ | Mean squareerror mΔs /m |
|---|
| -0.0007 | -0.0007 | 0.0002 | | 0.0064 | -0.0126 | -0.0077 | | | 0.0000 | 0.0000 | -0.0007 | | -0.0100 | -0.0337 | 0.0071 | | | -0.0005 | 0.0001 | 0.0000 | | -0.0086 | -0.0091 | 0.0028 | | | Proposed method | 0.0001 | 0.0001 | -0.0001 | 0.0005 | -0.0056 | -0.006 | -0.0087 | 0.0247 | | 0.0000 | 0.0000 | 0.0004 | | 0.0069 | 0.0183 | -0.0002 | | | -0.0001 | -0.0003 | 0.0000 | | -0.0054 | -0.0149 | 0.0204 | | | -0.0003 | -0.0003 | 0.0007 | | 0.0255 | 0.0382 | 0.0221 | | | 0.0006 | 0.0005 | 0.0000 | | -0.0142 | 0.012 | -0.0097 | | | -0.0001 | 0.0001 | 0.0000 | | -0.0018 | 0.0007 | -0.0102 | | | 0.0000 | -0.0004 | 0.0000 | | 0.0139 | -0.0004 | 0.0195 | | | Method in Ref. [12] | -0.0002 | -0.0002 | 0.0002 | 0.0005 | 0.0136 | 0.0141 | 0.0203 | 0.0254 | | 0.0000 | -0.0001 | -0.0002 | | -0.0009 | -0.0129 | 0.0136 | | | -0.0005 | 0.0000 | 0.0000 | | 0.0000 | -0.0100 | 0.0129 | | | 0.0001 | 0.0001 | -0.0005 | | -0.0177 | -0.0302 | -0.0105 | | | 0.0007 | 0.0007 | -0.0001 | | -0.0154 | 0.0099 | -0.0288 | | | 0.0000 | 0.0000 | 0.0003 | | 0.0002 | 0.0172 | -0.0140 | | | 0.0002 | -0.0003 | 0.0000 | | 0.0169 | -0.0111 | 0.0120 | | | Method in Ref. [16] | -0.0001 | -0.0001 | 0.0002 | 0.0005 | 0.0067 | 0.0092 | -0.0005 | 0.0314 | | 0.0000 | 0.0000 | -0.0002 | | -0.0080 | -0.0174 | -0.0078 | | | -0.0003 | 0.0001 | 0.0000 | | 0.0019 | -0.0182 | 0.0016 | | | 0.0002 | 0.0002 | -0.0006 | | -0.0245 | -0.0351 | -0.0313 | |
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柴双武, 杨晓琴. 基于对偶四元数构建的直线基元点云拼接方法[J]. 光学学报, 2019, 39(12): 1228006. Shuangwu Chai, Xiaoqin Yang. Line Primitive Point Cloud Registration Method Based on Dual Quaternion[J]. Acta Optica Sinica, 2019, 39(12): 1228006.
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