Research And Implementation Of Point Cloud Data Registration Algorithm

In the wheelset detection project,it is necessary to use an accurate wheelset point cloud data verification algorithm.By virtue of the large volume of the processed wheelset model,in order to obtain complete 3D point cloud data on the surface of the wheelset model,it is necessary to scan the wheelset from multiple perspectives.The point cloud coordinate systems obtained from different angles are diverse,so it is significant to convert the different point cloud coordinate systems to obtain the complete point cloud data.The paper analyzes and summarizes the existing point cloud splicing algorithms,designing a point cloud splicing system applying to the wheelset inspection projects.The main work of the paper is as follows:(1)Design and complete the point cloud registration system.According to the engineering requirements,the general framework of point cloud registration system is designed and the corresponding functional modules are developed.The system uses the Py Qt5 layout page framework to realize the initial registration and fine registration operation of the point cloud data.VTK and Py Qt5 are combined to visually process the original point cloud,coarse registration result,fine registration result and solution parameters,and save the transformed point cloud data.(2)A point cloud registration algorithm based on feature points and ICP algorithm is implemented.The registration algorithm of marking points solves the initial registration problem of point clouds and provides a better initial position for fine registration.Using KD-Tree to search the nearest point and quaternion method to solve the rotation translation matrix to realize ICP,which is used for the precise registration of point cloud.Example point cloud data registration evaluation and testing,get a good registration results.(3)Application of point cloud registration system in wheelset detection.The point cloud data of the scanned wheelset model is taken as the research object.The point cloud registration process is realized through the initial registration and fine registration of the point cloud.Then the complete point cloud data of the wheelset is obtained and the parameter is solved.The experiments illustrate that the point cloud registration system designed in this paper can be used to restore the model in the wheelset detection project.