技术学刊.pdf

技術學刊 第十八卷 第一期 民國九十二年 1 Journal of Technology, Vol. 18, No. 1, pp. 83-89 (2003) 部分重疊曲面間的粗疊合與精疊合 陳漢明 楊奇林 台灣大學機械研究所 摘 要 本文提出一些新的方法，使得多個部分重疊的曲面能夠快速而精確地完成 粗疊合與精疊合的工作。粗疊合方面 ，在各曲面上 ，尋找最大與最小曲率差值 大於閥值的特徵點，然後比對二曲面上由特徵點連結而成的區塊。如果曲面上 有兩個以上的區塊形狀相似，則比對三組相似的區塊連成的三角形。精疊合方 面，以兩點間的距離、法向量、與曲率的差值，尋找配對點。 關鍵詞：曲面疊合、粗疊合、精疊合、ICP 法則。 RECOGNITION AND REGISTRATION OF OVERLAPPING RANGE SURFACES Han-Ming Chen Chi-Lin Yang Department of Mechanical Engineering National Taiwan University Taipei, Taiwan 10617, R.O.C. Key Words: Surface Matching, Recognition, Registration, Iterative Closest Point Algorithm. ABSTRACT This paper proposes some new methods which can efficiently and accurately do the recognition and registration among several overlapping range surfaces. For the recognition, find the salient points on each surface, whose difference between maximum and minimum curvatures are greater than a threshold, and then build and match the blocks between two surfaces. On one surface, if there are two or more blocks whose shapes are similar, connect three blocks on each surface and find two similar triangles between two surfaces. For the registration, search point pairs between two surfaces with the distance, a