Coordinate System Alignment and Integration of Multiple Laser Scanned Data

• Main Authors: Chen, Kuei-Wu, 陳奎伍
• Other Authors: Hong-Tzong Yau
• Format: Others
• Language: zh-TW
• Published: 1997
• Online Access: http://ndltd.ncl.edu.tw/handle/46552527611193129885

碩士 === 國立中正大學 === 機械工程學系 === 85 === The purpose of data registration is to find the registration transformation between two point sets. The main application area of data registration is in reverse engineering and computer vision. Recently, many researcher focus on this topic and try to develop an automatic registration system. We use the ICP method to develop a data registration system and then discuss the accuracy of registration. The ICP method uses least-squares estimation to reduce the average distance between the matched points in the two point sets. It includes two steps: finding the initial transformation and the final transformation through iteration. In this thesis, the principal axes are used to find the initial transformation. The SVD method is then used to find transformation matrix during each iteration. After registering two point sets, there are redundant points in the overlapped area between them. We can remove the redundant points and resample the two point sets to get a new point set. After data registration, the accuracy of the six transformation parameters can be estimated using the proposed uncertainty model. It is found that the uncertainty of the registration parameters are inversely proportional to the squared root of the number of points. This result can be used to predict the minimum number of points we should use to register two point sets under the required accuracy so that the computational efforts can be greatly reduced.