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Multi-view three-dimensional data registration method based on spatial line recognition and matching

A three-dimensional data, multi-view technology, applied in the field of multi-view three-dimensional data splicing, can solve problems such as time-consuming, inability to achieve alignment, cumbersome measurement process, etc., to prevent convergence errors and reduce the amount of calculation.

Active Publication Date: 2013-03-13
BEIHANG UNIV
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Problems solved by technology

[0004] The method based on pasting markers on the surface of the model can provide higher splicing accuracy, but the measurement process is cumbersome due to the need to paste markers on the surface, and some models cannot be touched during measurement, which limits the application of the method
However, the splicing method based on point cloud data needs to iteratively search for corresponding point pairs and adjust the relative posture during the execution process, which consumes a lot of time, and tends to converge to the local extremum during the operation process, so that the alignment cannot be achieved.

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  • Multi-view three-dimensional data registration method based on spatial line recognition and matching

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specific Embodiment approach

[0059] Specific implementation method: as follows figure 1 The shown method steps describe a concrete implementation.

[0060] The present invention is a multi-view three-dimensional data splicing method based on spatial straight line recognition and matching. The specific steps of the method are:

[0061] Step 1: Extract straight line feature parameters from the original point cloud data: first find the point cloud that belongs to the line feature according to the curvature of the point cloud data, assuming that the point cloud set can be used P{(x 1 ,y 1 ,z 1 )...(x n ,y n ,z n )}express, is the mean value of the coordinates, and the matrix can be constructed from the mean value Then the covariance matrix of P:

[0062] X=[P-N] T ·[P-N]

[0063] According to the characteristics of eigenvalues ​​and eigenvectors, we can know that:

[0064] X·α=λ·α, let λ 1 ,λ 2 ,λ 3 is the eigenvalue of X, and the size relationship has λ 1 2 3 , then the estimated curvature i...

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Abstract

The invention discloses a multi-view three-dimensional data registration method based on spatial line recognition and matching. The multi-view three-dimensional data registration method based on the spatial line recognition and matching is suitable for multi-view registration on data with obvious edge features. The multi-view three-dimensional data registration method based on the spatial line recognition and matching comprises the following main steps of: extracting line segments from three-dimensional point cloud data; realizing the matching of common line segments under different views according to the inherent constrained relationship of positions and angles of the extracted line segments; finding rotation invariant corresponding points under different views on the basis of the line segment matching; and obtaining an optimal global attitude transformation matrix based on the corresponding points to realize multi-view three-dimensional data registration.

Description

technical field [0001] The invention relates to a multi-view three-dimensional data splicing method based on spatial straight line recognition and matching, which is a method for spatial three-dimensional point cloud data processing, and specifically relates to a multi-view three-dimensional data splicing method, which belongs to three-dimensional measurement and computer vision technology field. Background technique [0002] In 3D measurement, it is often necessary to obtain the overall 3D shape model of the workpiece. Due to the limitation of single viewing angle measurement, it is necessary to stitch together the measurement results of multiple viewing angles to obtain the overall shape data, so the selection of stitching method is more critical. [0003] In order to realize the splicing of multi-view point clouds, the common method is to paste marker points on the surface of the measurement object, determine the transformation matrix between different perspectives by ide...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/10
Inventor 李旭东赵慧洁李伟姜宏志
Owner BEIHANG UNIV
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