Surface Matching Method for the Armed Inspection Robots

被引：0
|
作者：
Chen, Yuqing [1 ]
Hu, Ying [1 ]
Ma, Zi [1 ]
机构：
[1] Dalian Maritime Univ, Ctr Automat Res, Dalian, Peoples R China
来源：
2009 INTERNATIONAL CONFERENCE ON MEASURING TECHNOLOGY AND MECHATRONICS AUTOMATION, VOL II | 2009年
关键词：
PROBE-RADIUS COMPENSATION; REGISTRATION;
D O I：
10.1109/ICMTMA.2009.17
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents an efficient method for rigid registration of 3-D point sets, which intends to match the feature points inspected by armed inspection robots with the points on designed CAD surface. The alignment error is defined as the least square problem, and the sphere radius of the inspection probe is considered In this framework, the matching problem is converted into acquiring six Euler variables problem by solving nonlinear equations. Thus a matrix transformation of parameter separation is presented to get the approximate resolution. The validity and effectivness is tested via real surface matching experiment.
引用
收藏
页码：144 / 147
页数：4
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