Improved RANSAC Point Cloud Spherical Target Detection and Parameter Estimation Method Based on Principal Curvature Constraint
<p>Diagram of combined measurement system.</p> "> Figure 2
<p>Algorithm flow chart.</p> "> Figure 3
<p>Local coordinate system L.</p> "> Figure 4
<p>Point cloud of noisy spherical surface at different scales. (<bold>a</bold>) The proportion of the number of point clouds to noise points in the spherical model is 10%; (<bold>b</bold>) the proportion of the number of point clouds to noise points in the spherical model is 20%; (<bold>c</bold>) the proportion of the number of point clouds to noise points in the spherical model is 30%; (<bold>d</bold>) the proportion of the number of point clouds to noise points in the spherical model is 40%.</p> "> Figure 5
<p>The standard deviation of sphere parameters estimated by different methods of simulation data.</p> "> Figure 6
<p>Experimental apparatus and scanning results. (<bold>a</bold>) Three-dimensional scanner; (<bold>b</bold>) actual scanned point cloud.</p> "> Figure 7
<p>The average radius difference obtained by each algorithm in detecting the spherical surface.</p> "> Figure 8
<p>Coordinate unification experiment diagram: (<bold>a</bold>) measurement of target 1 and standard rod sphere 1; (<bold>b</bold>) measurement of target 2 and standard rod sphere 2.</p> "> Figure 9
<p>The effect of point cloud data coordinate unification.</p> ">
Abstract
:1. Introduction
2. Systems and Methods
2.1. System Design
2.2. PC-RANSAC Point Cloud Sphere Detection Algorithm
2.2.1. Principal curvature constraint for sample point selection
2.2.2. Total Least Squares Algorithm-Corrected Sphere Parameters
3. Experimental Results and Analysis
3.1. Detection Efficiency and Accuracy Verification Experiments
3.1.1. Simulation Experiments
3.1.2. Standard Ball Experiment
3.2. Large-Scale Measurement Experiment
4. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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W | Fitting Method | Sphere Parameter (mm) | Time (s) | |||
---|---|---|---|---|---|---|
x | y | z | r | |||
40 | RANSAC | 19.951 | 30.017 | 39.907 | 14.890 | 5.24 |
3D Hough | 20.158 | 30.087 | 39.887 | 14.841 | 10.25 | |
PC-RANSAC | 20.158 | 29.989 | 40.059 | 14.947 | 3.85 | |
30 | RANSAC | 20.120 | 29.881 | 40.156 | 15.145 | 9.35 |
3D Hough | 20.461 | 29.438 | 40.379 | 15.438 | 15.24 | |
PC-RANSAC | 20.114 | 29.956 | 39.979 | 14.925 | 4.22 | |
20 | RANSAC | 19.819 | 29.776 | 40.294 | 14.575 | 13.45 |
3D Hough | 20.755 | 29.312 | 39.324 | 14.152 | 17.35 | |
PC-RANSAC | 19.924 | 30.018 | 39.857 | 14.883 | 5.31 | |
10 | RANSAC | 20.855 | 29.437 | 39.322 | 14.447 | 15.45 |
3D Hough | 21.755 | 28.532 | 41.204 | 13.682 | 20.54 | |
PC-RANSAC | 20.149 | 29.836 | 39.843 | 14.855 | 7.53 |
Sphere | Detection Method | Estimated Sphere Parameters (mm) | |||
---|---|---|---|---|---|
x | y | z | r | ||
Sphere 1 | RANSAC | −47.625 | 15.835 | 587.507 | 14.903 |
PC-RANSAC | −47.387 | 16.021 | 587.681 | 15.021 | |
Sphere 2 | RANSAC | −45.029 | −43.562 | 583.516 | 14.885 |
PC-RANSAC | −45.352 | −43.806 | 583.752 | 14.972 |
Detection Method | Distance between the Centers of the Two Spheres (mm) |
---|---|
RANSAC | 59.587 |
PC-RANSAC | 59.990 |
Detection Method | Time (s) |
---|---|
RANSAC | 8.58 |
PC-RANSAC | 4.62 |
Group | Serial Number | The Coordinates of Sphere Centers (mm) | ||
---|---|---|---|---|
x | y | z | ||
Target 1 | Sphere 1 | 386.703 | −15.863 | 239.877 |
Sphere 2 | 425.466 | −10.260 | 265.832 | |
Sphere 3 | 368.809 | −10.346 | 285.568 | |
Target 2 | Sphere 1 | 116.247 | −15.956 | −561.551 |
Sphere 2 | 126.015 | 9.198 | −616.762 | |
Sphere 3 | 76.307 | −8.218 | −600.384 |
Group | Serial Number | The Coordinates of Sphere Centers (mm) | ||
---|---|---|---|---|
x | y | z | ||
Target 1 | Sphere 1 | 386.703 | −15.863 | 239.877 |
Sphere 2 | 425.466 | −10.260 | 265.832 | |
Sphere 3 | 368.809 | −10.346 | 285.568 | |
Target 2 | Sphere 1 | 116.247 | −15.956 | −561.551 |
Sphere 2 | 126.015 | 9.198 | −616.762 | |
Sphere 3 | 76.307 | −8.218 | −600.384 | |
Standard rod sphere | Sphere 1 | 78.436 | −33.811 | −437.573 |
Sphere 2 | 70.601 | −22.050 | −435.581 |
Group | Serial Number | The Coordinates of Sphere Centers (mm) | ||
---|---|---|---|---|
x | y | z | ||
Target 1 | Sphere 1 | 386.729 | −15.868 | 239.832 |
Sphere 2 | 425.442 | −10.260 | 265.833 | |
Sphere 3 | 368.806 | −10.34 | 285.612 | |
Target 2 | Sphere 1 | 116.37 | −15.935 | −561.539 |
Sphere 2 | 126.056 | 9.176 | −616.689 | |
Sphere 3 | 76.143 | −8.217 | −600.469 | |
Standard rod sphere | Sphere 1 | 485.284 | 15.305 | 234.505 |
Sphere 2 | 210.394 | 15.931 | −582.346 |
Serial Number | Distance between the Centers of the Two Spheres (mm) |
---|---|
1 | 861.865 |
2 | 861.793 |
3 | 861.926 |
4 | 861.966 |
5 | 861.864 |
6 | 861.926 |
7 | 861.842 |
8 | 861.867 |
9 | 861.836 |
10 | 861.872 |
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Wu, Q.; Liu, J.; Gao, C.; Wang, B.; Shen, G.; Li, Z. Improved RANSAC Point Cloud Spherical Target Detection and Parameter Estimation Method Based on Principal Curvature Constraint. Sensors 2022, 22, 5850. https://doi.org/10.3390/s22155850
Wu Q, Liu J, Gao C, Wang B, Shen G, Li Z. Improved RANSAC Point Cloud Spherical Target Detection and Parameter Estimation Method Based on Principal Curvature Constraint. Sensors. 2022; 22(15):5850. https://doi.org/10.3390/s22155850
Chicago/Turabian StyleWu, Qinghua, Jiacheng Liu, Can Gao, Biao Wang, Gaojian Shen, and Zhiang Li. 2022. "Improved RANSAC Point Cloud Spherical Target Detection and Parameter Estimation Method Based on Principal Curvature Constraint" Sensors 22, no. 15: 5850. https://doi.org/10.3390/s22155850