Point Cloud Registration Algorithm for Scattered Workpiece Based on SHOT Feature Fusion
TIAN Qing-hua1,BAI Rui-lin1,LI Du2
1(Key Laboratory of Advanced Process Control for Light Industry(Ministry of Education),Jiangnan University,Wuxi 214122,China)2(Xinje Electronic Co.,Ltd.,Wuxi 214072,China)
Abstract：Aiming at the problem of target recognition and location in the process of random bin picking,a point cloud registration method based on SHOT feature fusion is proposed.The point cloud obtained from the three-dimensional measurement of structured light is preprocessed and segmented to obtain the point cloud dataset of multiple workpieces.A new method based on the oriented bounding box is proposed to get the point cloud of the workpiece after removing the sparse edge points,and to obtain the key point set with the uniform sampling algorithm.The key points is described uniquely by improving the SHOT feature descriptor.The minimum variance method is used to find the corresponding points of the point cloud of the workpiece in the template point cloud,and the initial transformation matrix is solved according to the corresponding relation.Finally,the accurate alignment of the workpiece is obtained by using the ICP algorithm.The experimental results show that the algorithm is compared with the algorithm based on SHOT feature registration and FPFH,the registration accuracy is increased by 30.07% and 37.1% respectively,and the registration speed is increased by 35.64% and 21.21% respectively.
田青华,白瑞林,李杜. 基于SHOT特征融合的散乱工件点云配准算法[J]. 小型微型计算机系统, 2019, 40(2): 275-279.
TIAN Qing-hua,BAI Rui-lin,LI Du. Point Cloud Registration Algorithm for Scattered Workpiece Based on SHOT Feature Fusion. Journal of Chinese Computer Systems, 2019, 40(2): 275-279.
2019, Vol. 40 
