Fast Cylindrical Fitting Method Using Point Cloud's Normals Estimation

摘要

Cylindrical fitting is an essential step in Large Process Pipeline's measurement process, and precision of initial values of cylindrical fitting is a key element in getting a correct fitting result. In order to get well initial values, covariance matrixes of all points in cylinder's three-dimensional laser scanning point cloud should be firstly established to estimate normals of all points, and then cylinder's axis vector can be calculated by using least squares method. Secondly, remaining parameters' initial values of the cylinder can be got by coordinate transformation. Finally, Levenberg-Marquardt algorithm is used in iterative optimization process to get fitting result by using the above values as initial values. Experiments demonstrate that this method can get precise initial values of cylindrical fitting and improve the accuracy and speed of cylindrical fitting.