Kinect Point Cloud Registration for Vehicle Outline Based on Robotic Arm
摘要
The 3D point cloud model of vehicle contour plays a key role in the intelligent manufacturing and maintenance of automobiles.In order to improve the accuracy and efficiency of point cloud registration,this paper taking the vehicle maintenance robot as the research object,proposes a vehicle outline scanning and positioning method based on point cloud data processing technology,as well as a date registration method for point cloud.Install a Kinect depth sensor at the end of the arm for precise movement.The point cloud data is collected and pre-processed around the car.The sensor sample pose is calculated according to the kinematic equation of the manipulator to complete the preliminary registration.On this basis,the iterative nearest point algorithm is used to implement precise point cloud registration for vehicle outline.Experimental results show that the method can complete the accurate and fast registration of cloud data from various viewpoints and obtain a complete 3D point cloud digital model.