Frequency domain point cloud registration based on the Fourier transform

摘要

Due to the limited measurement range and occlusion of single-line structured light, it is impossible to detect the side data of the whole part. It is proposed that point cloud registration method obtained from multiple rotations of parts in frequency domain by Fourier transform. In the process of point cloud registration, cross-section point cloud data are restored to the corresponding size matrix firstly. Secondly, Fourier transform is carried out to calculate the point cloud data. When calculating the rotation angle, the polar coordinate transformation is carried out at first, and then the cross power spectrum of the two matrices is obtained, so that the rotation and translation matrix of the point cloud can also be obtained. In this process, considering point cloud noise existence, the Sinc function is approximately replaced by the non-noise inverse Fourier transform of cross power spectrum, so that the noise has no influence on the determination of registration parameters in frequency domain registration. The registration accuracy of point cloud is checked by high precision rotation and multiple measurements of mobile platform. Finally, the rotation matrix and translation values are obtained. (C) 2019 Published by Elsevier Inc.