提出了基于iGPS(indoor Global Positioning System)世界坐标系进行点云拼接的方法,建立了点云拼接数学模型,并求解拼接模型中的坐标转换关系。基于标准球测量实验,分别实现了基于机器人基坐标系的点云拼接和基于iGPS世界坐标系的点云拼接。研究结果表明,基于iGPS世界坐标系的点云拼接方法不受机器人定位精度的影响,拼接精度更高。

A method of point cloud splicing is proposed based on the iGPS (indoor Global Positioning System) world coordinate system. A point cloud splicing mathematical model is established and the coordinate transformation relationship in this splicing model is solved. Based on the standard ball measurement experiment, the point cloud splicing based on the robot base coordinate system and that based on the iGPS coordinate system are realized, respectively. The research results show that the point cloud splicing method based on the iGPS world coordinate system is not affected by the positioning accuracy of robots, and moreover the splicing precision is high.