带工程约束的点匹配算法

3D Points Registration Algorithm with Engineering Constraints

在基于三维测量点的刚体姿态计算中,刚体的最佳姿态往往需要让刚体的某些关键点满足约束要求。以往的点匹配算法从不考虑原始测点带有工程约束的问题,获得的姿态参数不能满足工程实际的需要。介绍一种带工程约束的点匹配算法,该算法利用多目标优化模型,把两点对称、多点在同一平面上、多点在同一直线上等工程约束引入到点匹配的优化目标函数中,利用牛顿非线性最优化方法求解6个姿态参数。利用权值矢量实现对多个约束进行同时控制的误差分配求解,为带工程约束的刚体最佳姿态计算提供一套有效的解决方案。

Constraints of certain key point are often required in the estimation of the best position and orientation for a rigid body in cases of engineering application. Constraints are seldom involved in former point registration method, which result in deficiency of method for constraint rigid body adjustment. A registration method with engineering constraint such as two points＇ symmetry is proposed, as well as points on certain plane and points on certain line. The constraints are added into registration objective function for optimization by using multi-objective model. Three rotation parameters and three translation parameters are obtained by using classical Newton nonlinear optimization method. Standard examples are presented for the demonstration of the algorithm.