最佳采样率下的大部件位姿快速配准方法

A Fast Pose Registration Method for Large Components under Optimal Sampling Rate

针对当前大部件对接方法速度慢、成本高、自动化程度低等问题,提出了一种低成本的大部件快速位姿配准方法。以形状指数算子提取点云关键点,提高配准的速度与可靠性。结合滤波处理与点云采样分析,计算满足误差要求的最佳采样率,并通过配准实验进行了验证。最终,搭建大部件对接实验台,验证了该方法的效率与精度。文中提出的配准方法速度得到显著的提升,满足工业需求,精度远高于人工作业标准,具有广阔的应用前景。

Aiming at the problems of low speed,high cost and low degree of automation of the current large-component docking methods,this paper proposes a low-cost and fast pose registration method for large components.The method extracts the key points of the point cloud with the shape index operator,which improves the registration speed and reliability.Combined with filtering and point cloud sampling analysis,the optimal sampling rate that meets the error requirements is calculated and verified by registration experiments.Finally,a large component docking test bench is built to verify the efficiency and accuracy of the method.The method proposed in this paper has significantly improved the registration speed to meet the needs of industry,and the accuracy is much higher than that of manual labor,and has broad application prospects.