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Point cloud posture standardization-based method for extracting linear characteristic of point cloud

A feature extraction, point cloud line technology, used in special data processing applications, measuring devices, instruments, etc.

Inactive Publication Date: 2012-11-28
BEIHANG UNIV
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  • Claims
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Problems solved by technology

However, the general algorithm still has room for improvement in point set search, point cloud main direction adjustment, and curvature estimation method selection.

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  • Point cloud posture standardization-based method for extracting linear characteristic of point cloud
  • Point cloud posture standardization-based method for extracting linear characteristic of point cloud
  • Point cloud posture standardization-based method for extracting linear characteristic of point cloud

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specific Embodiment approach

[0035] Specific implementation method: as follows figure 1 The shown method steps describe a concrete implementation.

[0036]The present invention is based on a point cloud line feature extraction method based on point cloud attitude standardization. The specific steps of the method are:

[0037] Step 1: Construct the adjacent point set of a certain point: KD-TREE algorithm is the application of the binary tree principle in the point cloud space. According to the coordinate distribution of the point cloud, the distribution of the original point cloud is subdivided into different regions. For coordinate information, the search for the nearest point can be realized directly according to the address information of the grouping area. Taking n points as an example, the time changes from n to log 2 n, can save a lot of time. According to the KD-TREE algorithm, a certain search area can be specified to quickly search for the set of adjacent points of the specified point.

[0038]...

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Abstract

The invention provides a point cloud posture standardization-based method for extracting the linear characteristic of point cloud, which comprises six steps, is used for extracting the linear characteristic in disordered and three-dimensional point cloud, can conveniently measure the relative posture of a target, and belongs to the technical field of the three-dimensional measurement and the machine vision. The method comprises the following steps of: firstly, building a KD-TREE structure of point cloud, so that the searching speed of the adjacent point set of the point cloud can be improved; secondly, building the adjacent point set of each point according to the density of the whole point cloud, obtaining the main direction of the point set, and building a Householder transformation matrix to adjust the posture of the point cloud; thirdly, carrying out surface fitting on the adjacent point set to obtain two main curvature of the point based on a curved surface equation, and selecting the main curvature with the higher absolute value as the curvature estimation of the point; and finally, obtaining the curvature estimation value of all point cloud, and taking the point which is larger than a given threshold value as a linear characteristic point, so that the linear characteristic can be extracted.

Description

technical field [0001] The invention relates to a point cloud line feature extraction method based on point cloud attitude standardization, which is a method for extracting point cloud line features based on target point cloud for target attitude measurement or multi-view matching, and is applied to point cloud target relative attitude measurement. The invention belongs to the technical field of three-dimensional measurement and machine vision. technical background [0002] The acquisition technology of 3D point cloud data is relatively mature. Common methods include obtaining high-precision point cloud information based on binocular stereo vision, quickly obtaining point cloud information of objects through laser scanning, and other 3D point cloud acquisition technologies. Based on 3D point cloud data, processing size measurement, reverse engineering, target pose measurement, etc. can be realized. Among these technologies, the underlying key technology is feature extractio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F19/00G01B11/00
Inventor 李旭东赵慧洁李伟姜宏志
Owner BEIHANG UNIV
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