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A Study on Scan Data Matching for Reverse Engineering of Pipes in Plant Construction

KSCE JOURNAL OF CIVIL ENGINEERING 2017年第6期21卷 2027-2036页

作者： Lee, Mina Lee, Seongki Kwon, Soonwook Chin, Sangyoon MijunTech Co Shihung 15092 South Korea Tech Univ Muenchen Dept Architecture Munich Germany Sungkyunkwan Univ Sch Civil & Architectural Engn U City Design & En Suwon 16419 South Korea Sungkyunkwan Univ Sch Civil Architectural Engn & Landscape Architec Suwon 16419 South Korea

The domestic plant construction market is in a prosperous condition, due to the uprising demand for industry facility and infrastructure, triggered by the oil price rise in Middle East Asia. It is difficult, however, to survive in competition with advanced foreign construction companies, because domestic companies rely heavily on labor-intensive construction conventions in AEC(Architectural, Engineering and Construction industry). In particular, the piping work in a plant construction project accounts for many portions of the critical paths, from the viewpoint of process control. Although plant construction projects need to deal with complex three-dimensional piping information, most domestic companies rely on two-dimensional CAD drawings for construction and quality control, which frequently leads to significant problems, such as construction delay, and productivity decrease. For such reasons, it is problematic, in that the build ability, workability, and productivity of projects are dependent on the workers' abilities to understand drawings and their technical skill. In other words, as plant construction projects are getting more complicated in details, and more increased in size, it is urgently needed to develop an efficient information management methodology, in order to figure out heterogeneous 3D piping information in a real-time manner. Reverse engineering for obtaining 3D shape information using a 3D laser scanner is used, in order to extract drawing information from constructed objects. In particular, as piping works control the Critical Path (CP) in the plant construction project, in this study, a reverse engineering algorithm is proposed, which can measure the preciseness of pipes, by comparing the 3D CAD model and the 3D shape information obtained from a laser scanner. Applying the algorithm can contribute to re-construction prevention and quality control in the construction process.

关键词： 3D point icp algorithm matching algorithm 3D laser scanner point cloud

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A novel gaussian distribution and tukey weight (gdatw) algorithms: deformation accuracy for augmented reality (ar) in facelift surgery

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MULTIMEDIA TOOLS AND APPLICATIONS 2021年第10期80卷 15719-15743页

作者： Alsadoon, Abeer Murugesan, Yahini Prasad, P. W. C. Haddad, Sami Deva, Anand Charles Sturt Univ CSU Sch Comp & Math Sydney NSW Australia Univ Western Sydney UWS Sch Comp Data & Math Sci Sydney NSW Australia Southern Cross Univ SCU Sch Informat Technol Sydney NSW Australia Asia Pacific Int Coll APIC Informat Technol Dept Sydney NSW Australia Greater Western Sydney Area Hlth Serv Dept Oral & Maxillofacial Serv Sydney NSW Australia Cent Coast Area Hlth Dept Oral & Maxillofacial Serv Gosford Australia Macquarie Univ Fac Med & Hlth Sci Sydney NSW Australia

In facelift surgeries, tracking the exact position of the patient's facial nerves, blood vessels and other tissues can help the surgeons make the right decisions during surgery. Using Augmented Reality technologies that display the mapping of soft tissues beneath the skin, surgeons will be able to detect and locate the regions of cutting correctly prior to making the first cut. The study of Augmented Reality-assisted surgeries has not been found in facelift surgeries involving facial soft tissues, thus this journal can provide with invaluable first steps into the more concentrated studies involving this area. The current available systems in the oral and maxillofacial areas has shown limitation in supporting the elastic nature of facial soft tissues, which shape shifts and changes due to patient's movement, or movement caused by surgeon during surgery. This paper aims to increase overlay accuracy by reducing elastic deformation error for Augmented Reality in facelift surgeries. The proposed system consists of a Gaussian Distribution and Tukey Weight (GDaTW) algorithm to reduce the deformation error after the geometric error algorithm had been performed. The test results confirm that the new algorithm improves the video accuracy by similar to 0.10 mm by reducing the overlay error caused by elastic deformation with the display framerate of 5-10 frames per second compared to 10-13 frames per second in existing system. The improvement proposed in this system increases the overlay accuracy by reducing elastic deformation error. The correct display of soft tissues in the mandibular region using Augmented Reality aims to aid plastic surgeons perform facelift surgeries with confidence, to avoid making the wrong cuts of vital areas occluded by the patient's skin.

关键词： Augmented reality Facelift surgery Facial deformation Elastic icp algorithm Skin deformation Shape changes Image processing Facial soft tissues

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Geometrical analysis of two sets of 3D correspondence data patterns for the registration of free-form shapes

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2002年第4期33卷 409-436页

作者： Liu, YH Rodrigues, MA Sheffield Hallam Univ Sch Comp Ctr Res Comp Sheffield S1 1WB S Yorkshire England

The iterative closest point (icp) algorithm represents an efficient method to establish an initial set of possible correspondences between two overlapping range images. An inherent limitation of the algorithm is the introduction of false matches, a problem that has been tackled by a variety of schemes mainly based on local invariants described in a single coordinate frame. In this paper we propose using global rigid motion constraints to deal with false matches. Such constraints are derived from geometric properties of correspondence vectors bridging the points described in different coordinate frames before and after a rigid motion. In order to accurately and efficiently estimate the parameters of interest, the Monte Carlo resampling technique is used and motion parameter candidates are then synthesised by a median filter. The proposed algorithm is validated based on both synthetic data and real range images. Experimental results show that the proposed algorithm has advantages over existing registration methods concerning robustness, accuracy, and efficiency.

关键词： range image registration sphere ambiguity motion estimation correspondence vector global rigid motion constraints icp algorithm

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A high-accuracy method for fine registration of overlapping point clouds

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IMAGE AND VISION COMPUTING 2010年第4期28卷 563-570页

作者： Xie, Zexiao Xu, Shang Li, Xuyong Ocean Univ China Coll Engn Qingdao 266100 Peoples R China

This paper presents a high-accuracy method for fine registration of two partially overlapping point clouds that have been coarsely registered. The proposed algorithm, which is named dual interpolating point-to-surface method, is principally a modified variant of point-to-surface Iterative Closest Point (icp) algorithm. The original correspondences are established by adopting a dual surface fitting approach using B-spline interpolation. A novel auxiliary pair constraint based on the surface fitting approach, together with surface curvature information, is employed to remove unreliable point matches. The combined constraint directly utilizes global rigid motion consistency in conjunction with local geometric invariant to reject false correspondences precisely and efficiently. The experimental results involving a number of realistic point clouds demonstrate that the new method can obtain accurate and robust fine registration for pairwise 3D point clouds. This method addresses highest accuracy alignment with less focus on recovery from poor coarse registrations. (C) 2009 Elsevier B.V. All rights reserved.

关键词： Fine registration icp algorithm Dual interpolating point-to-surface Surface fitting Auxiliary pair

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Adaptation of machining toolpath to distorted geometries: application to remove a constant thickness on rough casting prosthesis

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INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 2014年第5-8期72卷 1073-1083页

作者： Azzam, Noureddine Chaves-Jacob, Julien Boukebbab, Salim Linares, Jean-Marc Univ Constantine 1 Fac Sci & Technol Dept Mech Engn Constantine 25000 Algeria Aix Marseille Univ CNRS ISM UMR 7287 F-13288 Marseille 09 France Univ Constantine 1 Fac Sci & Technol Dept Engn Transport Constantine 25000 Algeria

This study proposes a method to adapt the geometry of the toolpath to a specified target. In the case study presented, the geometrical target is to remove a constant thickness on the rough workpiece. This case is normally present in the polishing of the femoral component of knee prostheses. In fact, an operator carries out these operations manually. The aim of this study is to contribute to the automation of prosthesis production, notably, in the preparation of surface polishing. The proposed method can deform and adapt a toolpath to ensure the required geometry of the machined surface. The proposed toolpath deformation method is composed of three steps: alignment, toolpath deformation, and toolpath smoothing. Alignment between the measured surface of the roughcast prostheses and the nominal toolpath is carried out by an Iterative Closest Point (icp) algorithm. The principle of this algorithm is to find the optimal rigid transformation to readjust the toolpath on the measured surface. Subsequently, the toolpath is deformed to remove the constant thickness of the roughcast prostheses. Next, to increase the machined quality, a smoothing stage is carried out on the obtained toolpath. Experimental tests on industrial prostheses geometry are conducted to validate the effectiveness of this method.

关键词： Toolpath adaptation Biomanufacturing icp algorithm Five-axis machining Toolpath smoothing

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SPROSAC: Streamlined progressive sample consensus for coarse-fine point cloud registration

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APPLIED INTELLIGENCE 2024年第6期54卷 5117-5135页

作者： Liu, Zeyuan Yue, Xiaofeng Zhu, Juan Changchun Univ Technol Mech & Elect Engn Changchun Jilin Peoples R China

With the development of 3D matching technology, point cloud registration (PCR) based on corresponding points has received increasing attention in the field of computer vision. Unfortunately, 3D keypoint technology inevitably produces a large number of outliers. To solve the problems of poor stability, low efficiency and the high number of iterations required to calculate the accepted solution of random sampling consistency (RANSAC) and its variants under a high outlier rate, a streamlined progressive sample consensus (SPROSAC) algorithm is proposed in this paper. SPROSAC is an improved estimator of progressive sample consensus that guides the sampling process by increasing the use of 3D point cloud surface information and optimizes the model verification process based on registration error decision acceptance. Compared to classic RANSAC-family algorithms, SPROSAC has a greater probability of obtaining an accepted solution more quickly. The experiments demonstrate that SPROSAC achieves significantly smaller and more stable registration errors with fewer iterations across three datasets. In the performance experiments based on evaluation metrics such as recall, 1-precision, and F1 score for inlier classification, SPROSAC demonstrates the best performance across the three datasets, with outlier rates exceeding 95%. Furthermore, we propose a coarse-fine PCR algorithm based on SPROSAC and icp to address the issues of high initialization requirements, susceptibility to local optima, and low efficiency in traditional icp algorithms. The experimental results of coarse-fine registration show that our algorithm provides initial values for the icp, which can reduce the number of iterations of the icp by 50%, 64.4%, and 57.4%.

关键词： Point cloud registration Robust estimation Correspondence Coarse registration icp algorithm

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Feature point cloud extraction and registration based on ORB-SRBicp algorithm 19

Feature point cloud extraction and registration based on ORB...

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Proceedings of the 5th International Conference on Communication and Information Processing

作者： Li Lu-jun Dang Shu-wen Wang Qing-qu Shanghai University of Engineering Science Shanghai China

ISBN: (纸本)9781450372589

Considering the scale transformation and the influence of rotation angle among image feature point extraction process, to improve the low efficiency and poor stability, an improved SRBicp algorithm which combined ORB and icp algorithm is proposed and applied to register the point cloud, Based on this method, the boundary of the scale matrix is considered and the rotation angle constraint is added. The point cloud registration model is optimized by considering some factors such as matrix, dynamic iteration coefficient, and annealing coefficient. Benefit from the Ubuntu operating system which is based on the open source GNU/Linux system, the simulation experiments are carried out. The experimental results show that the improved algorithm performs better on the registration accuracy as about 40% when being compared with the traditional icp algorithm, and the registration speed is increased as about 60%.

关键词： point cloud registration SRBicp algorithm icp algorithm feature point extraction ORB algorithm

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An orientation reliability matrix for the iterative closest point algorithm

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IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE 2000年第10期22卷 1205-1208页

作者： Lee, BU Kim, CM Park, RH Ewha Womans Univ Dept Informat Elect Seoul 120750 South Korea Samsung Elect Co Ltd SOC Dev Team Syst LSI Businesss Suwon 449711 South Korea Sogang Univ Dept Elect Engn Seoul 100611 South Korea

This paper proposes a matrix which represents the reliability of the rotation components of the iterative closest point (icp) algorithm in range image registration. We show that the reliability of the icp algorithm de... 详细信息

关键词： icp algorithm 3D registration range data volumetric modeling pose estimation

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A robust and accurate automated registration method for turbine blade precision metrology

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INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 2018年第9-12期97卷 3711-3721页

作者： He, Wantao Li, Zhongwei Guo, Yanyan Cheng, Xu Zhong, Kai Shi, Yusheng Huazhong Univ Sci & Technol State Key Lab Mat Proc & Die & Mould Technol Wuhan 430074 Hubei Peoples R China

Turbine blades with complex features are a critical part of turbomachinery, and the manufacture of geometric dimensions and tolerances is strictly controlled to ensure the efficiency and safety of the engines. Precision inspection under current industry practices is challenging and inefficient;however, inspection with an optical device is a promising technique. One key task involved is registration that aligns the measurements to the part model to achieve a fast and automatic inspection process. We present robust and accurate coarse and fine automated registration methods for turbine blade precision metrology. An iterative scan strategy is used to obtain sufficient point clouds to construct curves and surfaces using a B-spline method for registration. Then, principal axes of the reconstruction surface of the blade are calculated, and a principal component analysis (PCA)-based coarse registration method is used. The coarse alignment of the measurement data and the computer-aided design (CAD) model are optimized by fine registration using a common iterative closest point (icp) algorithm. In this step, the signal-to-noise ratio is incorporated in the transformation of correspondence sets to reduce or remove the noise of outliers. These techniques have been implemented in a four-axis blade inspection system with a point-based conoscopic holography sensor. The results of measurement simulation experiments and inspection case studies indicate that the presented registration method is robust and accurate.

关键词： Turbine blade Optical inspection Coarse and fine registration icp algorithm Free-form surface Four-axis inspection system

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Robust affine iterative closest point algorithm with bidirectional distance

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IET COMPUTER VISION 2012年第3期6卷 252-261页

作者： Zhu, J. Du, S. Yuan, Z. Liu, Y. Ma, L. Xi An Jiao Tong Univ Sch Software Engn Xian 710049 Shannxi Peoples R China Xi An Jiao Tong Univ Inst Artificial Intelligence & Robot Xian 710049 Shannxi Peoples R China

This study proposes a robust affine iterative closest point (icp) algorithm based on bidirectional distance for the registration of m-dimensional (m-D) point sets. Since the affine registration problem can be formulated as a least square (LS) problem by incorporating an affine transformation, this study first analyses the ill-posed problem of the affine registration and turn it into well-posed one by introducing the bidirectional distance into the LS formulation. Then, the corresponding affine icp algorithm is proposed to solve the well-posed problem. By using the bidirectional distance, the proposed algorithm can directly estimate the affine transformation and converge monotonically to a local minimum from any given initial parameters. To obtain the desired global minimum, good initial parameters can be estimated by independent component analysis (ICA) technique. The proposed approach makes no geometric assumptions on point sets, so it is a general framework for affine registration of m-D point sets. Experimental results demonstrate its robustness and accuracy compared with the current state-of-the-art approaches.

关键词： affine transformation affine registration problem icp algorithm bidirectional distance Computer vision and image processing techniques image registration m-dimensional point sets independent component analysis Integral transforms affine transforms Optical, image and video signal processing least square problem well-posed problem ill-posed problem robust affine iterative closest point algorithm iterative methods

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