基于机器人与激光传感器的点云快速拼接

Method of point cloud stitching based on the mechanical arm and laser

三维激光扫描技术作为一种快速获取物体表面模型的技术,具有采集速度快,无需接触测量目标等优势。介绍了一种工业机器人结合三维激光扫描获取点云数据的系统的搭建方法,通过激光器获取得到点云数据,然后利用机器人给出的四元数得到两组点云之间的刚体变换关系使两组点云数据统一到相同的坐标系下,完成点云数据的快速拼接,方法简单快速,不受被扫描物形状大小的限制,可实现被测物的快速扫描及点云数据的快速拼接。

Three-dimensional laser scanning technology as a fast access to technical surface model,has acquisition speed,no-contact measurement advantage goals. This paper describes a combination of threedimensional laser scanning industrial robots point cloud data acquisition system build method to get through the laser point cloud data acquisition,and then use quaternion arm got rigid transformation given point cloud relations between the two groups make two sets of point cloud data into unified under the same coordinate system,complete the quick splice point cloud data. The method is simple and fast,not be limited to the shape and size of the scanned object,enabling quick scanning and point cloud data of rapid analyte splicing.