关键词: 视觉传感器, 点云拼合, 表面贴合, 局部表面

Abstract:

Focusing on discreteness of point cloud data acquisition from  an object surface,a method of point cloud accurate registration was proposed based on surface fit.Firstly,initial point cloud registration about sensor from different view points was completed.Then,selecting three local surface from the surface overlap
areas of point cloud by contain sphere,the local surface fitting with three-dimensional quadratic
surface equation,the rotation transformation using quaternion method,the translation and
rotation parameters about accurate registration were obtained by means of nonlinear least square optimizing method.The algorithm has faster convergence and higher registration precision.The experimental results indicate the effectiveness of the proposed method.

Key words: vision sensor, point cloud registration, surface fit, local surface