Registering 3D Scanned Point Cloud Using Markers International Joint Conference 2006 (SICE-ICCAS 2006)

摘要

We propose a registering method for a given point cloud and markers scanned by untouched scanner. The measurement error of markers is smaller than that of point cloud. Also the correspondence between the markers can be known easily. Therefore we use the ICP (Iterative Closest Point) algorithm based on PDM (Point Distance Minimization). And then with the transformation we apply the TDM (Tangent Distance Minimization) for point cloud. That is, we minimize distance errors where constrained PDM (Point Distance Minimization) is used as an error measure for the corresponding two sets of point cloud. Also we proposed the combination of PDM (Point Distance Minimization) and TDM (Tangent Distance Minimization) after global registration. We test an example of a hexahedron and show the efficiency in terms of convergence and accuracy in both cases.