An advanced method for matching partial 3D point clouds to free-form CAD models for in-situ inspection and repair

Bilal Nasser; Amir Rabani

doi:10.1117/12.2525135

21 June 2019 An advanced method for matching partial 3D point clouds to free-form CAD models for in-situ inspection and repair

Bilal Nasser, Amir Rabani

Author Affiliations +

Proceedings Volume 11061, Automated Visual Inspection and Machine Vision III; 1106105 (2019) https://doi.org/10.1117/12.2525135
Event: SPIE Optical Metrology, 2019, Munich, Germany

Abstract

3D scanning is a key process in the fields of robotics and computer vision, and can be used for shape comparison between real-world features and Computer-Aided Design (CAD) models. In order to be beneficial, algorithms must be able to accurately register the 3D point cloud to the model surface. In this paper, we propose a registration method using Correlation Coefficients of the point cloud dimensions along with pose calculated by Procrustes Analysis to provide an ideal global registration for the Iterative Closest Point (ICP) algorithm. The method is analysed in the context of objects that are largely smooth and featureless, with only partial scans captured of the objects’ surfaces, and improves the accuracy of registration in such scenarios. This work has resulted in registrations with more accuracy in cases where a rotational alignment is known but a specific position cannot be identified, than if either ICP or Procrustes are used individually, or when Procrustes is used to provide an initial transformation to ICP. It is shown that by applying the proposed method to partially scanned objects, the Root Mean Square Error (RMSE) is significantly reduced. The method is compared with the SAC-IA alignment algorithm, implemented in the Point Cloud Library (PCL), and the results show 0.4mm RMSE for the proposed method and 24.5mm RMSE for the SAC-IA with ICP. The findings in this work could be used in industrial applications including in-situ robotic repair and inspection of free-form manufactured parts.

Conference Presentation

Citation Download Citation

Bilal Nasser and Amir Rabani "An advanced method for matching partial 3D point clouds to free-form CAD models for in-situ inspection and repair", Proc. SPIE 11061, Automated Visual Inspection and Machine Vision III, 1106105 (21 June 2019); https://doi.org/10.1117/12.2525135

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available