Research on the Basic Rodrigues Rotation in the Conversion of Point Clouds Coordinate System


Maolin Xu, Jiaxing Wei, Hongling Xiu, Journal of Information Processing Systems Vol. 16, No. 1, pp. 120-131, Feb. 2020

10.3745/JIPS.04.0161
Keywords: Basic Rodrigues Rotation, Engineering Coordinate System, Instrument Coordinate System, Three-Axis Error, Three-Term Error
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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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Cite this article
[APA Style]
Maolin Xu, Jiaxing Wei, & Hongling Xiu (2020). Research on the Basic Rodrigues Rotation in the Conversion of Point Clouds Coordinate System. Journal of Information Processing Systems, 16(1), 120-131. DOI: 10.3745/JIPS.04.0161.

[IEEE Style]
M. Xu, J. Wei and H. Xiu, "Research on the Basic Rodrigues Rotation in the Conversion of Point Clouds Coordinate System," Journal of Information Processing Systems, vol. 16, no. 1, pp. 120-131, 2020. DOI: 10.3745/JIPS.04.0161.

[ACM Style]
Maolin Xu, Jiaxing Wei, and Hongling Xiu. 2020. Research on the Basic Rodrigues Rotation in the Conversion of Point Clouds Coordinate System. Journal of Information Processing Systems, 16, 1, (2020), 120-131. DOI: 10.3745/JIPS.04.0161.