전자공학회논문지 (Journal of the Institute of Electronics and Information Engineers)

대한전자공학회 (The Institute of Electronics and Information Engineers)
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잡음이 있는 3차원 점군 데이터에서 밸브 모델링 및 모델 추출

Valve Modeling and Model Extraction on 3D Point Cloud data

  • 오기원 (한국기술교육대학교 전기전자통신공학부) ;
  • 최강선 (한국기술교육대학교 전기전자통신공학부)
  • Oh, Ki Won (School of Electrical, Electronics & Communication, KOREATECH) ;
  • Choi, Kang Sun (School of Electrical, Electronics & Communication, KOREATECH)
  • 투고 : 2015.09.03
  • 심사 : 2015.11.20
  • 발행 : 2015.12.25
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초록

LIDAR를 이용해서 얻은 3차원 점군 데이터는 작은 물체를 추출하기에는 오차의 영향이 크기 때문에 작은 밸브를 자동으로 추출하는데 많은 어려움이 있다. 본 논문에서는 이러한 잡음이 있는 3차원 점군 데이터 사이에서 밸브의 위치 및 방향(Pose)의 정보를 얻는 방법을 제안한다. Pose를 얻기 위해서 밸브가 원환체 모양의 손잡이, 원통 모양의 Rib, 평면 모양의 중심축 평면인 기본 도형으로 이루어진 모델이라고 가정한다. 그리고 밸브의 중심 좌표에 대한 추가적인 입력을 받아서 밸브의 Pose를 추출한다. 중심점을 기준으로 거리에 따른 히스토그램을 생성하고, 히스토그램의 값에 따라 손잡이, Rib, 중심축 평면의 파라미터를 통계적인 방법으로 추출하여 최종 밸브의 Pose를 추출한다. 추출된 밸브의 Pose를 이용하여 3차원 점군 데이터에 밸브의 모형을 각 모양으로 복원한다.

It is difficult to extract small valve automatically in noisy 3D point cloud obtained from LIDAR because small object is affected by noise considerably. In this paper, we assume that the valve is a complex model consisting of torus, cylinder and plane represents handle, rib and center plane to extract a pose of the valve. And to extract the pose, we received additional input: center of the valve. We generated histogram of distance between the center and each points of point cloud, and obtain pose of valve by extracting parameters of handle, rib and center plane. Finally, the valve is reconstructed.

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