ПОРІВНЯЛЬНИЙ АНАЛІЗ МЕТОДІВ ПОШУКУ НАЙБЛИЖЧИХ ТОЧОК НА ЗОБРАЖЕННЯХ ОБ’ЄКТІВ ТЕХНІЧНИХ СИСТЕМ

Abstract

The subject of the study is the process of mapping the construction of point clouds of technical systems using the algorithm of the nearest points. The goal is to minimize the alignment criterion by converting a set of cloud points Y into a set of cloud points X in a software product that uses an iterative closest point (ICP) algorithm. Objectives: to analyze the properties of input images that contain point clouds; to review the algorithms for identifying and comparing key points; implement a cloud comparison algorithm using the ISR algorithm; consider an example of the algorithm for estimating the approximate values of the elements of mutual orientation; implement software that allows you to compare files that contain point clouds and draw conclusions about the possibility of comparing them. The methods used are: search for points using the algorithm of iterative nearest points, the algorithm for estimating the approximate values of the elements of mutual orientation, the method of algorithm theory for the analysis of file structures STL (standard template library - format template library) format. The following results were obtained. The choice of the ICP algorithm for the task of reconstruction of the object of technical systems is substantiated; the main features of the ISR algorithm are considered; the algorithm of comparison of key points, and also optimization that allows reducing criterion of combination at the reconstruction of three-dimensional objects of technical systems results. Conclusions. The study found that the iterative near-point algorithm is more detailed and accurate when modeling objects. At the same time, this method requires very accurate values and when calculating the degree of proximity, the complexity of calculation by this algorithm increases many times. Whereas the algorithm for estimating the approximate values of the elements of mutual orientation does not require information about the approximate orientation of the point clouds, which simplifies the work and reduces the simulation time. It was found that not all files are comparable. Therefore, the software is implemented, which gives an opinion on the possibility of comparing points in the proposed two files, which contain clouds of points in the structure of the STL format.