Registration of 3-D Shape with Free-Form Surface Using Imageware and Genetic Algorithm

2012 ◽  
Vol 472-475 ◽  
pp. 317-322 ◽  
Author(s):  
Xiao Yi Wang ◽  
Jing Chen ◽  
Jiang Zhu ◽  
Yoshio Saito ◽  
Tomohisa Tanaka
Keyword(s):  
Genetic Algorithm ◽  
Point Cloud ◽  
Point Clouds ◽  
Free Form ◽  
Work Piece ◽  
Cad Model ◽  
Manufacturing Accuracy ◽  
Free Form Surface ◽  
Point Data ◽  
Fine Registration

Registration of 3-D shape is significant in quantizing the error between the part and its CAD model and evaluating the part's manufacturing accuracy. In the past, various improved methods of the iterative closest point (ICP) had been proposed in registration. However, without fine initial pose of point clouds, the ICP algorithm often could not converge to the best (or near best) solution. According to the characteristics of 3-D shape with free-form surface, a new method for registration of 3-D shape with free-form surface is given, by which there are not rigid requests in initial pose of point data and the 3-D shape model could be in arbitrary positions and orientations in space. To improve the efficiency and accuracy of solving, this method is divided into general registration and fine registration. General registration is to fit rapidly and roughly the measured point cloud to designing point cloud from CAD model by Imageware. Fine registration is to further accurately fit the two group points using genetic algorithm (GA). Case study is finally given for a work piece with free-form surface to show the effectiveness of the above method.

Data Reduction Based on Bi-Directional Point Cloud Slicing for Reverse Engineering

2010 ◽  
Vol 437 ◽  
pp. 492-496 ◽  
Author(s):  
Lei Chen ◽  
Zhuang De Jiang ◽  
Bing Li ◽  
Jian Jun Ding ◽  
Fei Zhang
Keyword(s):  
Reverse Engineering ◽  
Data Reduction ◽  
Point Cloud ◽  
Free Form ◽  
Cad Model ◽  
Dense Point ◽  
Long Time ◽  
Point Data ◽  
Data Reduction Method ◽  
Method Point

In reverse engineering, complex free-form shaped parts are usually digitized quickly and accurately using the newly arisen non-contact measuring methods. However, they produce extremely dense point data at great rate. Not all the point data are necessary for generating a surface CAD model. Moreover, owing to inefficiencies in storing and manipulating them it takes a long time to generate a surface CAD model from the measured data. Therefore, an important task is to reduce the large amount of data. After analyzing the existing methods developed by other researchers, a new data reduction method, which based on bi-directional point cloud slicing, is presented in this paper. Using the proposed method, point cloud can be reduced while considering geometric features in both two parametric directions. Finally, a face model is used to verify the effectiveness of the proposed method and experimental results are given.

Research on Digital Modeling about Free-Form Surface with Holes Based on Coordinate Measuring Machine

2011 ◽  
Vol 287-290 ◽  
pp. 2805-2809
Author(s):  
Ming Yu Huang ◽  
Xiu Juan Wu ◽  
Zhong Shi Jia ◽  
Hong Jun Ni ◽  
Jing Jing Lv ◽  
...  
Keyword(s):  
Point Cloud ◽  
Coordinate Measuring Machine ◽  
Free Form ◽  
Model Reconstruction ◽  
Contact Measurement ◽  
Digital Modeling ◽  
Measuring Machine ◽  
Fast Reconstruction ◽  
Free Form Surface ◽  
Free Form Surfaces

Data acquisition and model reconstruction of free-form surfaces with holes were been studied, based on coordinate measuring machines. First, the structural process of the parts was analyzed, the method of combinate contact measurement with non-contact measurement were used to get point cloud; Then the point cloud were been preprocessed, feature curve extracted and solid modeled; Finally, the restructure model was been quality assessed and accuracy assessed. Using the measurement of combinated contact and non-contact can also meet both the precision requirement of key part and the fast reconstruction requirement of non-critical part, which has great significance on that part to fast and accurate reconstruction.

scholarly journals Registration of Multi-Sensor Bathymetric Point Clouds in Rural Areas Using Point-to-Grid Distances

2019 ◽  
Vol 8 (4) ◽  
pp. 178 ◽  
Author(s):  
Richard Boerner ◽  
Yusheng Xu ◽  
Ramona Baran ◽  
Frank Steinbacher ◽  
Ludwig Hoegner ◽  
...  
Keyword(s):  
Rural Areas ◽  
Point Cloud ◽  
Point Clouds ◽  
Airborne Lidar ◽  
Target Point ◽  
Outlier Removal ◽  
Least Squares Optimization ◽  
Rotation Parameters ◽  
Airborne Sensors ◽  
Fine Registration

This article proposes a method for registration of two different point clouds with different point densities and noise recorded by airborne sensors in rural areas. In particular, multi-sensor point clouds with different point densities are considered. The proposed method is marker-less and uses segmented ground areas for registration.Therefore, the proposed approach offers the possibility to fuse point clouds of different sensors in rural areas within an accuracy of fine registration. In general, such registration is solved with extensive use of control points. The source point cloud is used to calculate a DEM of the ground which is further used to calculate point to raster distances of all points of the target point cloud. Furthermore, each cell of the raster DEM gets a height variance, further addressed as reconstruction accuracy, by calculating the grid. An outlier removal based on a dynamic threshold of distances is used to gain more robustness against noise and small geometry variations. The transformation parameters are calculated with an iterative least-squares optimization of the distances weighted with respect to the reconstruction accuracies of the grid. Evaluations consider two flight campaigns of the Mangfall area inBavaria, Germany, taken with different airborne LiDAR sensors with different point density. The accuracy of the proposed approach is evaluated on the whole flight strip of approximately eight square kilometers as well as on selected scenes in a closer look. For all scenes, it obtained an accuracy of rotation parameters below one tenth degrees and accuracy of translation parameters below the point spacing and chosen cell size of the raster. Furthermore, the possibility of registration of airborne LiDAR and photogrammetric point clouds from UAV taken images is shown with a similar result. The evaluation also shows the robustness of the approach in scenes where a classical iterative closest point (ICP) fails.

The Advantages of Using Laser Scanners in Surveying in Protected Sites

2015 ◽  
pp. 382-402
Author(s):  
Gülhan Benli
Keyword(s):  
Protected Areas ◽  
Point Cloud ◽  
Laser Scanning ◽  
Three Dimensional ◽  
Terrestrial Laser Scanning ◽  
Point Clouds ◽  
Point Cloud Data ◽  
Cloud Data ◽  
Laser Scanners ◽  
Point Data

Since the 2000s, terrestrial laser scanning, as one of the methods used to document historical edifices in protected areas, has taken on greater importance because it mitigates the difficulties associated with working on large areas and saves time while also making it possible to better understand all the particularities of the area. Through this technology, comprehensive point data (point clouds) about the surface of an object can be generated in a highly accurate three-dimensional manner. Furthermore, with the proper software this three-dimensional point cloud data can be transformed into three-dimensional rendering/mapping/modeling and quantitative orthophotographs. In this chapter, the study will present the results of terrestrial laser scanning and surveying which was used to obtain three-dimensional point clouds through three-dimensional survey measurements and scans of silhouettes of streets in Fatih in Historic Peninsula in Istanbul, which were then transposed into survey images and drawings. The study will also cite examples of the facade mapping using terrestrial laser scanning data in Istanbul Historic Peninsula Project.

Digital Measurement and its Error Analysis for the Machining Free-Form Surface

2014 ◽  
Vol 664 ◽  
pp. 263-267
Author(s):  
Feng Lu ◽  
Ning Li ◽  
Xiao Fei Zhang
Keyword(s):  
Laser Scanning ◽  
Optical Measurement ◽  
Three Dimensional ◽  
Point Clouds ◽  
Free Form ◽  
Digital Measurement ◽  
Machining Errors ◽  
Three Dimensional Measurement ◽  
Free Form Surface ◽  
Free Form Surfaces

To deal with the lack of accurate and efficient inspection methods in complex free-form surfaces, three-dimensional measurement method based on the optical measurement and computer image processing technology was proposed. It adopted laser scanning technology to get point clouds of free-form surface. Used rapid measurement software to inspect precision of point cloud& CAD model. What could be the cause of machining errors was analyzed. 3D deviation inspection of complex surfaces was applied by an artifact. Detected the machining error of an important section, and outputted test report. This research provides a convenient and swift method for the inspection of free-form surface and processing quality control.

Form and Texture Control of Free-Form Surface Polishing

2006 ◽  
Vol 304-305 ◽  
pp. 113-117 ◽  
Author(s):  
Shi Ming Ji ◽  
Xian Zhang ◽  
Li Zhang ◽  
Qiao Ling Yuan ◽  
Y.H. Wan ◽  
...  
Keyword(s):  
Surface Texture ◽  
Polar Coordinates ◽  
Free Form ◽  
Polished Surface ◽  
Work Piece ◽  
Rotational Axis ◽  
Spatial Frequencies ◽  
New Type ◽  
Free Form Surface ◽  
Polishing Tool

In this paper, a new type of flexible sub-size polishing tool, and an advanced polishing technique for free-form surface based on the new type of tool will be researched. The configuration of the flexible polishing tool and the method of controlling the multi-DOF precessions of the flexible polishing tool will be introduced. The rectilineal movement along X,Y, Z axis and flirts on two polar coordinates rotational axis of the polishing tool are used to control the form precision and the surface texture of polished surface. This polishing technique is enable to change continuously the polishing pressure and contact area and makes the flexible polishing tool well suited both to control the texture of work-piece surface and to control the form of work-piece surface. The influence functions the flexible polishing tool is near-Gaussian, symmetrical, and lacks the high spatial frequencies and center-zero of removal. The example of multi-DOF precessions polishing for optic spherical and aspherical will be introduced. The results show that the form, the size and the movement mode of the polishing tool will have important effect to polishing quality and multi-DOF precessions polishing can obtain better surface texture quality, form precision and higher polishing efficiency than traditional pole-down polishing for free-form surface.

scholarly journals Grasp Pose Detection in Point Clouds

2017 ◽  
Vol 36 (13-14) ◽  
pp. 1455-1473 ◽  
Author(s):  
Andreas ten Pas ◽  
Marcus Gualtieri ◽  
Kate Saenko ◽  
Robert Platt
Keyword(s):  
Point Cloud ◽  
Point Clouds ◽  
Sensor Data ◽  
Detection Methods ◽  
Cad Model ◽  
Success Rates ◽  
Pose Detection ◽  
Novel Objects ◽  
Partially Occluded ◽  
Robotic Grasp

Recently, a number of grasp detection methods have been proposed that can be used to localize robotic grasp configurations directly from sensor data without estimating object pose. The underlying idea is to treat grasp perception analogously to object detection in computer vision. These methods take as input a noisy and partially occluded RGBD image or point cloud and produce as output pose estimates of viable grasps, without assuming a known CAD model of the object. Although these methods generalize grasp knowledge to new objects well, they have not yet been demonstrated to be reliable enough for wide use. Many grasp detection methods achieve grasp success rates (grasp successes as a fraction of the total number of grasp attempts) between 75% and 95% for novel objects presented in isolation or in light clutter. Not only are these success rates too low for practical grasping applications, but the light clutter scenarios that are evaluated often do not reflect the realities of real-world grasping. This paper proposes a number of innovations that together result in an improvement in grasp detection performance. The specific improvement in performance due to each of our contributions is quantitatively measured either in simulation or on robotic hardware. Ultimately, we report a series of robotic experiments that average a 93% end-to-end grasp success rate for novel objects presented in dense clutter.

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