Research on the Basic Rodrigues Rotation in the Conversion of Point Clouds Coordinate System
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In order to solve the problem of point clouds coordinate conversion of non-directional scanners, this paperproposes a basic Rodrigues rotation method. Specifically, we convert the 6 degree-of-freedom (6-DOF) rotationand translation matrix into the uniaxial rotation matrix, and establish the equation of objective vector conversionbased on the basic Rodrigues rotation scheme. We demonstrate the applicability of the new method by using abar-shaped emboss point clouds as experimental input, the three-axis error and three-term error as validateindicators. The results suggest that the new method does not need linearization and is suitable for optionalrotation angle. Meanwhile, the new method achieves the seamless splicing of point clouds. Furthermore, thecoordinate conversion scheme proposed in this paper performs superiority by comparing with the iterativeclosest point (ICP) conversion method. Therefore, the basic Rodrigues rotation method is not only regarded asa suitable tool to achieve the conversion of point clouds, but also provides certain reference and guidance forsimilar projects.
Abstract
In order to solve the problem of point clouds coordinate conversion of non-directional scanners, this paperproposes a basic Rodrigues rotation method. Specifically, we convert the 6 degree-of-freedom (6-DOF) rotationand translation matrix into the uniaxial rotation matrix, and establish the equation of objective vector conversionbased on the basic Rodrigues rotation scheme. We demonstrate the applicability of the new method by using abar-shaped emboss point clouds as experimental input, the three-axis error and three-term error as validateindicators. The results suggest that the new method does not need linearization and is suitable for optionalrotation angle. Meanwhile, the new method achieves the seamless splicing of point clouds. Furthermore, thecoordinate conversion scheme proposed in this paper performs superiority by comparing with the iterativeclosest point (ICP) conversion method. Therefore, the basic Rodrigues rotation method is not only regarded asa suitable tool to achieve the conversion of point clouds, but also provides certain reference and guidance forsimilar projects.
참고문헌 (25)
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