Objects Alignment in Point Cloud data for 3D Scanner Coordinate System based on Radon Transform

Our research department is currently developing a 3D Volume and Shape Scanner for large-scale Cargo - Mail in cooperation with air logistics partner. Shipments are sorted in the logistics center of the external partner and then placed in air containers. Also the bin packing problem will be solved in order to achieve the greatest possible efficiency in the use of container space. For these purposes, it is necessary to know not only the size and weight of the shipments, but also the overall shape. The paper describes a partial part of solved problem a unique algorithm of alignment of detected shipments to the coordinate system of the scanner. The algorithm for aligning objects to the scanner coordinate system is applied directly in 3D point cloud data and is based on the use of the Radon transform. The paper describes the proposed algorithm and also gives a brief introduction to the whole issue of 3D scanner design for large shipments. Finally, the achieved results are discussed.