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Automatic recognition of bolts on locomotive running gear based on laser scanner 3D measurement
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摘要:
使用激光线结构光扫描仪得到机车走行部三维点云数据，实现了在三维数据中对螺栓进行自动识别和定位。使用关键点的快速点特征直方图(FPFH)来描述点云特征，首先，将目标区域与预存螺栓模板进行特征匹配，并为目标区域的匹配点分配权重；然后，使用均匀的种子点在带权重的匹配点集中进行K-means聚类，并删除点数过少的聚类簇；最后，使用Hough变换的方法为经过筛选的聚类簇建立严格的分类器，判断出螺栓的有无和精确位置。实验证明了该方法的有效性。
Abstract:The locomotive running gear 3D point cloud data are obtained by line-structured laser scanner, and the bolts on the locomotive running gear under the 3D point cloud data are recognized and located automatically. Firstly, fast point feature histograms (FPFHs) of the key points are calculated to describe the 3D features, and the target region is matched with the preselected bolt template. Then, K-means clustering is carried out on the weighted match point set using uniform seed points. Finally, the Hough transform method is used to establish a strict classifier for the clusters, and the existence and precise position of the bolts are determined. The experimental results verify the effectiveness of the proposed method.
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Overview: The detection of locomotive running gear is an important part of railway safety inspection. However, the automatic detection based on the two-dimensional image cannot directly get the three-dimensional size of the object, and is easy to be affected by light, oil, shooting angle and so on. Therefore, it is of great practical significance to study the locomotive running gear inspection system based on three-dimensional measurement technology. Line-structured laser scanner is one of the most common 3D laser scanner. In the automatic detection of locomotive based on the 3D laser scanner, how to recognize and locate the bolts on the locomotive running gear under the 3D point cloud data is one of the research focuses. In this paper, the locomotive running gear 3D point cloud data are obtained by line-structured laser scanner, and the bolts on the locomotive running gear under the 3D point cloud data are recognized and located automatically. Firstly, an appropriate bolt in the data is selected as the template, and both in the template and target regions, key points are extracted by Intrinsic shape signatures (ISS) algorithm, and Fast point feature histograms (FPFHs) of the key points are calculated to describe the 3D features. Then, the target region is matched with the preselected bolt template on basis of the Euclidean distance between FPFHs, and points in the match point set are weighted by the key points of the bolt template they have matched. Then, K-means clustering is carried out on the weighted match point set using uniform seed points, and the clusters are initially screened based on the number of points. The point cloud is divided into many blocks according to the size of bolts, and the vertices of each block are selected as the cluster seeds. Finally, the Hough transform method is used to establish a strict classifier for the clusters. The key points on the bolts are treated as several fuzzy circles of a fixed radius, so the existence and location of the bolt can be judged by Hough transformation of each cluster. An experiment is carried out for validation. In the experiment, all five bolts of the same type in the target area are successfully marked. The experimental results verify the effectiveness of the proposed method. As the three-dimensional data can directly get the target depth information, the proposed method has a good application prospect, which is expected to be a useful complement to the online railway safety inspection system.
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图 3 Hough变换检测原理。(a)图像空间；(b)参数空间
Figure 3. Principle of Hough transform. (a) Image space; (b) Parameter space
图 6 模板和目标的点云数据。(a)模板点云数据；(b)目标点云数据
Figure 6. The point cloud data for the template and target. (a) Point cloud data for template; (b) Point cloud data for target
图 7 关键点的提取结果。(a)模板点云中的关键点提取结果；(b)目标点云中的关键点提取结果
Figure 7. Key points extraction. (a) Key points extraction in template; (b) Key points extraction in target
图 8 匹配与预筛选结果。(a)匹配点集；(b)螺栓的预定位置
Figure 8. Results of match and pre-recognition. (a) Match point set; (b) Pre-recognition of bolts
图 9 Hough变换的过程。(a)一个匹配点集中的聚类簇；(b) Hough矩阵
Figure 9. Hough transform process. (a) A cluster of matching points; (b) Hough matrix
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