中文摘要：

对结构光三维扫描检测系统的拼接技术进行了研究．建立了两个待拼接点云之间的对应关系，提出用继承与优化算法进行点云的精确拼接。阐述了算法原理，通过建模获取拼接过程中的旋转和平移参数，提出并分析了拼接的实现过程。采用光栅投射式三维扫描仪获取某型号汽车防雨板的6组点云数据，用提出的算法进行点云拼接，利用多分辨率层次精度分析法对拼接结果进行误差分析，并与最临近点迭代法在拼接精度、收敛速度和耗时上进行了比较。实验结果表明：继承与优化算法可实现海量无序点云的精确拼接，拼接的标准偏差〈0．10mm，两点云对拼接时间〈2s，所需迭代次数比ICP方法减少5次以上。

英文摘要：

A registration method for unorganized point clouds in a structure light 3D scanning measurement is researched and a inheriting and optimizing algorithm is proposed to implement the precise registration of point clouds. The principle of the algorithm is explained, and a mathematical model is established to obtain the rotation and translation parameters. The realizing procedure of the algorithm is described and analyzed. 6 groups of point clouds of a car flashing are acquired by a fringe projection 3D scanning instrument, then,the point clouds are registered by the proposed algorithm. Registration errors are analyzed by a multi resolution hiherarchy method,which indicates that the proposed algorithm can implement the precise registration of unorganized point clouds. Experimental results show that the registration standard error is less than 0.10 mm, and the registration time of 2 point clouds is less than 2 s. The required number of iterations are reduced by more than 5 times as compared with that of an ICP algorithm.