Coordinate System Alignment and Integration of Multiple Laser Scanned Data
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,...
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ndltd-TW-085CCU004890102015-10-13T12:14:44Z http://ndltd.ncl.edu.tw/handle/46552527611193129885 Coordinate System Alignment and Integration of Multiple Laser Scanned Data 多重雷射掃瞄資料定位與整合 Chen, Kuei-Wu 陳奎伍 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. Hong-Tzong Yau 姚宏宗 1997 學位論文 ; thesis 96 zh-TW |
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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.
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author2 |
Hong-Tzong Yau |
author_facet |
Hong-Tzong Yau Chen, Kuei-Wu 陳奎伍 |
author |
Chen, Kuei-Wu 陳奎伍 |
spellingShingle |
Chen, Kuei-Wu 陳奎伍 Coordinate System Alignment and Integration of Multiple Laser Scanned Data |
author_sort |
Chen, Kuei-Wu |
title |
Coordinate System Alignment and Integration of Multiple Laser Scanned Data |
title_short |
Coordinate System Alignment and Integration of Multiple Laser Scanned Data |
title_full |
Coordinate System Alignment and Integration of Multiple Laser Scanned Data |
title_fullStr |
Coordinate System Alignment and Integration of Multiple Laser Scanned Data |
title_full_unstemmed |
Coordinate System Alignment and Integration of Multiple Laser Scanned Data |
title_sort |
coordinate system alignment and integration of multiple laser scanned data |
publishDate |
1997 |
url |
http://ndltd.ncl.edu.tw/handle/46552527611193129885 |
work_keys_str_mv |
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