三维视觉传感器多视角曲面测量数据的一种配准拼接方法

本文提出一种将三维视觉传感器多视角曲面测量数据进行拼接从而获得被测物体整个表面模型的方法．首先在给定不同视角之间初始坐标旋转矩阵R和平移矢量T的基础上，采用一种迭代配准方法求解更为准确的R和T，从而将不同视角下测量三维数据转换到同一坐标系下；然后通过引入三维空间的球坐标系,将配准后物体表面数据按其空间角度进行网格化处理，得到覆盖整个物体表面的数据网格．本文最后给出了配准建模实例．

A METHOD FOR REGISTRATION AND MERGE OF FREE FORM SURFACE MEASURED FROM MULTIPLE VIEWPOINTS WITH STRUCTURED LIGHT VISION SENSOR

A method is presented to integrate partly overlapping free from surface measured with structured light 3D vision sensor from multiple viewpoints into a whole surface model of object. Firstly, based on the given initial coordinate rotation matrix R and transformation vector T of different viewpoints, an iterative registration method is applied to calculate more accurate motion parameter R and T so that 3D data obtained from different viewpoints can be translated into a unique frame of reference. Then, by introducing spherical coordinate of 3D space , the registered data is divided into grids according to their space angle and a mesh overlaying the whole surface of object is obtained . Finally an experiment of registration and modeling is presented.