JIPS (한국정보처리학회)
Current Result Document :
| 한글제목(Korean Title) |
Research on the Basic Rodrigues Rotation in the Conversion of Point Clouds Coordinate System |
| 영문제목(English Title) |
Research on the Basic Rodrigues Rotation in the Conversion of Point Clouds Coordinate System |
| 저자(Author) |
Taehoon Kim
Donggeun Kim
Sangjoon Lee
Maolin Xu
Jiaxing Wei
Hongling Xiu
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| 원문수록처(Citation) |
VOL 16 NO. 01 PP. 0120 ~ 0131 (2020. 02) |
한글내용
(Korean Abstract) |
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영문내용
(English Abstract) |
In order to solve the problem of point clouds coordinate conversion of non-directional scanners, this paper proposes a basic Rodrigues rotation method. Specifically, we convert the 6 degree-of-freedom (6-DOF) rotation and translation matrix into the uniaxial rotation matrix, and establish the equation of objective vector conversion based on the basic Rodrigues rotation scheme. We demonstrate the applicability of the new method by using a bar-shaped emboss point clouds as experimental input, the three-axis error and three-term error as validate indicators. The results suggest that the new method does not need linearization and is suitable for optional rotation angle. Meanwhile, the new method achieves the seamless splicing of point clouds. Furthermore, the coordinate conversion scheme proposed in this paper performs superiority by comparing with the iterative closest point (ICP) conversion method. Therefore, the basic Rodrigues rotation method is not only regarded as a suitable tool to achieve the conversion of point clouds, but also provides certain reference and guidance for similar projects.
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| 키워드(Keyword) |
Cell-Counting
Distance Transform
Radius Variation Analysis
Watershed Algorithm
Basic Rodrigues Rotation
Engineering Coordinate System
Instrument Coordinate System
Three-Axis Error
Three-Term Error
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