刘志刚, 陈康宁, 林志航. 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[J]. 机器人, 1999, 21(6): 415-420..
LIU Zhi-gang, CHEN Kang-ning, LIN Zhi-hang. A METHOD FOR REGISTRATION AND MERGE OF FREE FORM SURFACE MEASURED FROM MULTIPLE VIEWPOINTS WITH STRUCTURED LIGHT VISION SENSOR. ROBOT, 1999, 21(6): 415-420..
Abstract：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.
1 Soucy G,Ferrie F P.Surface Recovery from Range Images Using Curvature and Motion Consistency.Computer Vision and Image Unders tanding.1997,65(1):1-18 2 Horn BK P.Closed-form Solution of Absolution Orientation Using Unit Quaternions.J Opt.Soc.Am.Ser.A 1987,4:629-642 3 Paul J,Besl,MeKay N D.A Method for Registration of 3D Shapes.IEEE Trans.on PAM I,1992,14(2):239-255 4 高国军,陈康宁等.一种降低坐标测量机定位误差的方法.机械工程学报,1997,33(6):38-42