Surface Matching Method for the Armed Inspection Robots

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.

作者: Yuqing Chen Ying Hu Zi Ma

作者单位: Automation Research Center,Dalian Maritime University,Dalian,China

会议类型: 国际会议

会议名称: 2009 International Conference on Measuring Technology and Mechatronics Automation(ICMTMA 2009)(2009年检测技术与机械自动化国际会议)

会议地点: 长沙

会议语种:英文

页码: 1088-1091

在线出版日期: 2009-04-11（万方平台首次上网日期，不代表论文的发表时间）