Position and pose recognition of aviation blades based on 3D point cloud boundary point features
Aiming at the problem of high positioning cost,low efficiency and difficult to guarantee accuracy in the processing of aircraft blades,a 3D point cloud boundary point feature registration algorithm was proposed to identify the position and pose of aviation blades,which could quickly and accurately locate the specific position of aircraft blades in space through a single scan.The point cloud data of the workpiece was obtained by the structured light camera and preprocessed.Then,the boundary points of the point cloud were extracted as the key points for registra-tion based on the projection vector angle of neighboring points on the cutting plane.The Fast Point Feature Histo-gram(FPFH)descriptor of the key points was calculated,and the rough registration matrix was solved by using the Sample Consensus Initial Alignment(SAC-IA)algorithm.The point-to-plane Iterative Closest Point(ICP)algorithm was used for accurate registration.Robot vision localization experiments were carried out to verify the method,and the results showed that the algorithm significantly improved the registration accuracy for aircraft blades with a mean square error of 0.6540mm2.The recognition error for the position of aircraft blades in space was within 1mm,which met the requirements of positioning.
aircraft bladesmachining positioningpoint cloud registrationfeature of boundary
万方数据
维普
