Laser & Optoelectronics Progress, Volume. 61, Issue 22, 2215006(2024)
Error-Detection Method for Layered Construction of Steel Structure Modules Based on Point Clouds
Figures & Tables(24)
Fig. 2. Layered construction and installation process of the steel structure module
Fig. 10. Feature point extraction for column end-surface. (a) End-surface points of corresponding columns; (b) geometric feature information of the column
Fig. 11. Two sets of CAD models. (a) First set of CAD model; (b) second set of CAD model
Fig. 12. Two simulated point clouds. (a) Simulated point cloud 1; (b) simulated point cloud 3
Fig. 13. Initial pose of the simulated point cloud and model point cloud. (a) Simulated point cloud 1 and model point cloud 1; (b) simulated point cloud 2 and model point cloud 2; (c) simulated point cloud 3 and model point cloud 3; (d) simulated point cloud 4 and model point cloud 4
Fig. 16. Relative errors of coarse registration. (a) Relative errors of rotation angle along x-axis; (b) relative errors of displacement along x-axis; (c) relative errors of rotation angle along y-axis; (d) relative errors of displacement along y-axis; (e) relative errors of rotation angle along z-axis; (f) relative errors of displacement along z-axis
Fig. 19. Results of aligning each point cloud with the model. (a) Result of the first set of CAD model; (b) result of the second set of CAD model
Fig. 20. Deviation between error results and theoretical errors of proposed method. (a) Deviation of the first set of CAD model; (b) deviation of the second set of CAD model
Fig. 21. Deviation between error results and theoretical errors of Ref. [10] method. (a) Deviation of the first set of CAD model; (b) deviation of the second set of CAD model
Table 1. Point counts and pose transformation matrices of four simulated point clouds
View tableTable 1. Point counts and pose transformation matrices of four simulated point clouds
Data set Point count Pose transformation matrix Simulated point cloud 1 7904641 Simulated point cloud 2 6969734 Simulated point cloud 3 8921004 Simulated point cloud 4 8996671
Table 2. Docking error results
View tableTable 2. Docking error results
No. First set of CAD model Second set of CAD model dx dy dz dx dy dz 1 -51.93 30.06 0.37 -4.28 3.76 3600.02 2 -51.93 30.37 0.38 -4.27 4.03 3600.02 3 -51.85 30.40 0.37 -4.23 3.82 3600.01 4 -51.85 30.12 0.37 -4.24 3.90 3600.01 5 -0.06 0.06 3600.01 4.07 -4.46 3600.04 6 -0.06 0.11 3600.01 4.06 -4.44 3600.04 7 -0.05 0.28 3600.01 4.13 -4.50 3600.04 8 -0.05 0.05 3600.01 4.13 -4.43 3600.04 9 42.38 -41.62 0.38 -12.68 8.17 3600.13 10 42.38 -41.57 0.37 -4.28 3.76 3600.02 ⋮ ⋮ ⋮ ⋮ ⋮ ⋮ ⋮
Table 3. Deviation statistical analysis results
View tableTable 3. Deviation statistical analysis results
Method Maximum deviation Mean deviation Δx Δy Δz Δx Δy Δz First set of CAD model Proposed method
Ref. ［
10 ］ method0.341 0.452 0.069 0.091 0.139 0.015 0.745 2.038 1.494 0.173 0.510 0.523 Second set of CAD model Proposed method 0.265 0.571 0.100 0.090 0.148 0.022 Ref. ［ 10 ］ method0.629 2.523 2.434 0.161 0.351 0.943
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Tianren Zhao, Qing Zhang, Pengfei Li, Yaze Wang. Error-Detection Method for Layered Construction of Steel Structure Modules Based on Point Clouds[J]. Laser & Optoelectronics Progress, 2024, 61(22): 2215006
Paper Information
Category: Machine Vision
Received: Feb. 18, 2024
Accepted: Apr. 10, 2024
Published Online: Nov. 20, 2024
The Author Email: Tianren Zhao (2021201076@tju.edu.cn), Qing Zhang (pf_paper@163.com)
CSTR:32186.14.LOP240684
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