CAJ | 학술논문

由于工业封头变形使得采集到的两期点云重心不一致，受点云重心变化的干扰，传统ICP算法出现局部收敛的情况，本文提出了一种基于点对间欧氏距离计算点云加权重心的ICP改进算法。该方法通过给不同距离的点对赋予权值，变形区域的点对距离较大，赋予的权值相对小，有效地消除了变形区域的点云对重心位置的影响。实验结果表明，该方法大大提高了ICP算法的精准性，有效消除重心变化的影响，从而可以准确地检测出工业封头变形区域。
유우공업봉두변형사득채집도적량기점운중심불일치，수점운중심변화적간우，전통ICP산법출현국부수렴적정황，본문제출료일충기우점대간구씨거리계산점운가권중심적ICP개진산법。해방법통과급불동거리적점대부여권치，변형구역적점대거리교대，부여적권치상대소，유효지소제료변형구역적점운대중심위치적영향。실험결과표명，해방법대대제고료ICP산법적정준성，유효소제중심변화적영향，종이가이준학지검측출공업봉두변형구역。
For industrial equipment deformation allows the acquisition of two point clouds to the center of gravity is inconsistent , so by changing the focus point cloud interference , the traditional ICP algorithm is a partial convergence of circumstances , is proposed based on the Euclidean distance between points on the point cloud computing weighted center of gravity ICP algorithm .In this method , the distance to different points on the assigned weights , because the deformation zone distance between a point on the larger value of the rights conferred by a relatively small , thus effectively eliminating deformation region of the point cloud on the location of the center of gravity.Experimental results show that the method greatly improves the efficiency of the ICP algorithm , the effective elimination of the center of gravity changes .Which can accurately detect the deformation area of industrial equipment .