Abstract
The problem of multi-view 3-D point clouds registration is investigated and effectively resolved by the developed methodology. A registration method is proposed to register two series of scans into an object model by using the proposed oriented-bounding-box (OBB) regional area-based descriptor. Robot 3-D scanning is often employed to generate set of point clouds of physical objects. The automated operation has to successively digitize view-dependent area-scanned point clouds from complex shaped objects by multi-view point clouds registration. To achieve this, the OBB regional area-based descriptor is employed to determine an initial transformation matrix and is then refined employing iterative closest point (ICP) algorithm. The developed method can be used to resolve the commonly encountered difficulty in accurately merging two neighbouring area-scanned images when no coordinate reference exists. The developed method has been verified through some experimental tests for its registration accuracy. Experimental results have preliminarily demonstrated the feasibility of the developed method.
Highlights
A 3D model is a digital representation of a physical object, which can be used for many purposes
To find the transformation between two series scans that are acquired from multi single scans, the OBB regional area-based descriptors of source point clouds are matched with the descriptor of the target point clouds
In order to evaluate the coarse registration errors, we have generated synthetic data, which is provided by the Industrial Technology Research Institute (ITRI)
Summary
A 3D model is a digital representation of a physical object, which can be used for many purposes. The 6-axis robot arm integrated with 3-D imaging scanners has recently emerged as a technical developing trend for 3-D surface scanning for objects having arbitrary or complex geometry [5,6,7] Both Callieri [5] and Larsson [6] presented a system for automated 3-D modeling consisting of a 3-D laser scanner, an industrial six axis robot and a turntable. To overcome the above difficulty, an automated robot scanning system integrated with a NTUdeveloped optical 3-D measuring probe is developed on a global registration method to accurately register two series of scans into an object model underlying 3-D imaging digitization by using the proposed orientedbounding-box (OBB) regional area-based descriptor. The hardware and basic system configuration as well as data processing algorithms such as preprocessing, overlapping detection and robot path planning have been described in [12]
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