基于双向ICP跨源点云配准的鞋底涂胶轨迹生成

Generation of Shoe Sole Gluing Trajectory Based on Bidirectional ICP Cross-Source Point Cloud Registration

针对自动化鞋底涂胶系统中存在的鞋型适用性不高的难题,课题组提出了一种基于修正PCA(principal components analysis)和双向ICP(iterative closest point)的跨源点云配准算法。对比3种采样方法对最终配准精度的影响,选择了最远点降采样作为配准前对点云的预处理;提出了修正PCA对鞋底点云进行粗配准,为精确配准提供了较好的初始变换矩阵;利用对跨源点云配准鲁棒性较好的双向ICP进行精确配准;根据精确配准结果将标准涂胶轨迹迁移到实时鞋底涂胶系统上,从而得到实时涂胶轨迹。结果表明:修正PCA+双向ICP在快速精确配准跨源鞋底点云上具有优越性,其中双向ICP迭代20轮后误差减小到1.31 mm,相比传统ICP算法误差减小了1.13 mm;修正PCA+双向ICP算法在处理不同鞋型时具有较好的适用性和精度,配准时间也满足系统要求。该算法可提高传统鞋底涂胶系统对各类鞋型的适用性,具有一定的工程实用价值。

Aiming at the problem of poor shoe shape applicability in the automatic sole gluing system,a cross-source point cloud registration algorithm based on modifed PCA(principal components analysis)and bidirectional ICP(iterative closest point)was proposed.Comparing the influence of the three sampling methods on the final registration accuracy,the farthest point down-sampling was selected as the preprocessing of the point cloud before registration;a modified PCA was proposed to perfom coarse registration on the sole point cloud,providing a better initial transformation matrix for accurate registration;the bidirectional ICP with good robustness of cross-source point cloud registration was used for precise registration;according to the accurate registration results,the standard gluing trajectory was migrated to the real-time sole gluing system,so as to obtain the real-time gluing trajectory.The results show that the modified PCA+bidirectional ICP is superior in fast and accurate registration of cross-source shoe sole point clouds,and the error o bidirectional ICP is reduced to 1.31 mm after 20 iterations,which is 1.13 mm less than that of the traditional ICP algorithm;The modified PCA+bidirectional ICP algorithm has better applicability and accuracy when dealing with different shoe types,and the registration time also meets the system requirements.This algorithm can improve the applicability of the traditional sole gluing system to various types of shoes,and has certain en gineering practical value.