포인트 클라우드 기반의 3D 배관 모델 정합 방법 연구

초록

In this study, a point cloud based 3D model registration algorithm was proposed for future markerless pipeline recognition. Even if the pipeline system onboard ship is very complex, according to theirs painting color and diameter, they are also well ranged. In this algorithm, a RGB-D scanning data of a lab-test pipeline system was firstly captured. After de-noising and down sampling, cylinder objectsrespectively segmented by different diameter and different color. And were then, connection relationship was calculated in those cylinder objects who have the same diameter. After that, those turning points will be used to the registration with pipe’s CAD model system and figure it out which part those segmented pipes belonging to.