Laser & Optoelectronics Progress, Volume. 57, Issue 6, 062802(2020)
Research on Laser Measurement Point Cloud Data Compensation and Pose Matching
Figures & Tables(13)
Fig. 6. Compensated point cloud data. (a) Leaf back point cloud data; (b) leaf basin point cloud data
Fig. 9. Example of local contour optimization. (a) Example based on the leading edge contour; (b) example based on the trailing edge contour; (c) examples based on front and rear edge contours
Table 1. Aviation blade inclination compensation
View tableTable 1. Aviation blade inclination compensation
Serial number Measurement / mm Measuring distance /mm Δd /mm Δx /mm Inclination / (°) Compensation value /mm Correction value /mm 1 -1.5594 148.4406 0.3374 0.6 29.3653 0.1208 -2.3677 2 -1.2398 148.7602 0.3501 0.6 30.2789 0.1267 -2.0362 3 -0.9341 149.0659 0.3196 0.6 28.0569 0.1129 -1.6723 … … … … … … … … 70 7.8608 157.8608 0.0095 0.88 0.6188 0.0047 7.8560 71 7.8513 157.8513 0.0413 0.88 2.6883 0.0126 7.8386 72 7.8926 157.8926 0.0069 0.88 0.4494 0.0040 7.8885 … … … … … … … … 135 6.2546 156.2546 0.0635 0.88 4.1293 0.0179 6.2366 136 6.1911 156.1911 0.0389 0.88 2.5323 0.0121 6.1789 137 6.1522 156.1522 0.0928 0.88 6.0229 0.0245 6.1276
Table 2. Algorithm examples based on local and global contours
View tableTable 2. Algorithm examples based on local and global contours
min F(R, T) θ /(°) tx /mm ty /mm Leading edge 1398.72 0.03709 0.56479 2.33445 R 0.999312065741549 0.0370863217825341 0 -0.0370863217825341 0.999312065741549 0 0 0 1 Trailing edge 162.23461 0.01034 -0.05164 0.56403 R 0.999946463239941 0.0103474950559580 0 -0.0103474950559580 0.999946463239941 0 0 0 1 Front and rear edge 0.35663 -3.57906×10-5 0.00311 0.00291 R 0.999999999359514 -3.57906802125446×10-5 0 3.57906802125446×10-5 0.999999999359514 0 0 0 1 Front and rear edge, leaf back 0.41309 -1.60869×10-4 0.01215 -0.03473 R 0.999999987060500 -1.60869511642089×10-4 0 -1.60869511642089×10-4 0.999999987060500 0 0 0 1 Overall 0.028669 -8.10865×10-5 0.00573 -0.01357 R 0.999999996712489 8.10865132359233×10-5 0 8.10865132359233×10-5 0.999999996712489 0 0 0 1
Table 3. Example of optimal contour matching algorithm
View tableTable 3. Example of optimal contour matching algorithm
Optimal matching profile Leading edge Leaf back Trailing edge Leaf pot Leading edge 0.02289 4.27060 4.38616 4.32165 Trailing edge 1.16271 1.18390 0.02898 1.12234 Front and rear edge 0.02944 0.08864 0.03235 0.05120 Front and rear edge, leaf back 0.05638 0.04986 0.05923 0.08321 Overall 0.0324 0.0788 0.0362 0.0703
Table 4. Results comparison of motion parameters before and after improved particle swarm optimization
View tableTable 4. Results comparison of motion parameters before and after improved particle swarm optimization
Algorithm min F(R, T) Ø /(°) φ /(°) θ /(°) tx /mm ty /mm tz /mm Algorithm before improvement 1 0.34999 -0.00269 -0.00006 -0.00008 -0.20599 -1.00174 0.00433 2 0.30949 -0.00168 -0.00029 0.00008 -0.10075 -0.63260 0.00297 R 0.999999823633103 -8.1951572453×10-5 5.88232694803×10-4 8.3531918857×10-5 0.999996386307458 0.002687079165782 5.88010358748×10-4 -0.00268712782807 0.999996216786770 Improved algorithm 1 0.31707 -0.00195 -0.00037 0.00005 -0.13089 -0.03159 0.00390 2 0.28738 0.00029 0.00009 0.00007 0.04131 -0.06538 0.00061 R 0.999999993484091 -6.739084572×10-5 -9.2142784317×10-5 6.7417921103×10-5 0.999999954547624 -2.93869993549×10-4 -9.2122975981×10-5 2.93876203709×10-4 0.999999952575066
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Kang Wang, Yanming Lü, Fei Yuan, Dongshuai Liu, Hua Yang. Research on Laser Measurement Point Cloud Data Compensation and Pose Matching[J]. Laser & Optoelectronics Progress, 2020, 57(6): 062802
Paper Information
Category: Remote Sensing and Sensors
Received: Jul. 11, 2019
Accepted: Aug. 28, 2019
Published Online: Mar. 6, 2020
The Author Email: Lü Yanming (1318565903@qq.com)
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