Ball target detection-based automatic registration method for laser point cloud data

A laser point cloud data, automatic registration technology, applied in electrical digital data processing, special data processing applications, instruments, etc., can solve the problems of complex operations, difficult to guarantee algorithm efficiency and reliability, and achieve the effect of reducing time

Inactive Publication Date: 2014-03-19
BEIJING UNIV OF CIVIL ENG & ARCHITECTURE
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AI Technical Summary

Problems solved by technology

These methods require more complex calculations, and it is difficult to guarantee the efficiency and reliability of the algorithm to identify smaller spheres in larger scenes.

Method used

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  • Ball target detection-based automatic registration method for laser point cloud data
  • Ball target detection-based automatic registration method for laser point cloud data
  • Ball target detection-based automatic registration method for laser point cloud data

Examples

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Embodiment 1

[0133] Embodiment 1 (1) Test data and environmental test data Using a Leica HDS6000 scanner, two different locations in a building (9.6m x 7.2m x 4m) were used. In the scene, a total of 6 ball targets are set up, and the nominal radius of the ball target is 0.099m. The original intensity reflection images of two adjacent stations are shown in Fig. 8.

[0134] The algorithm is implemented in a single PC environment, the memory configuration is 8GB, the CPU is i7-2760QM, and the main frequency is 2.4GHz. The operating system environment is Windows764bit Professional Edition, the algorithm adopts C++ language, and VS.NET2010 is used as the platform.

[0135] (2) Parameter setting In the present invention, the test is divided into two steps: ball target detection and matching with the same name. Among them, the ball target detection is divided into two parts: circle detection and ball detection, both of which adopt the RANSAC method, and the parameter settings are shown in Table...

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Abstract

The invention discloses a ball target detection-based automatic registration method for laser point cloud data. The method comprises the following steps: respectively extracting ball target characteristics from laser point cloud data of two adjacent stations; building a triangle by taking sphere centers of any three non-collinear ball targets as a peak for any station, and taking the area and three inner angles as four rotational invariants of the triangle, so as to build a reference triangle set comprising a plurality of reference triangles by a reference station; building a to-be-registered triangle set comprising a plurality of to-be-registered triangles by a to-be-registered station; matching the reference triangle set with the to-be-registered triangle set; determining a selected same triangle, and calculating the transformation relation of the to-be-registered station and the reference station. By adopting the method disclosed by the invention, automatic detection and automatic registration of the ball target are achieved by a computer automation mode, reduction of expenses of time, manpower and material resources is facilitated, and a non-professional user can obtain a high-quality three-dimensional data model.

Description

technical field [0001] The invention relates to a method for automatic registration of laser point clouds, in particular to a method for automatic registration of laser point cloud data based on spherical target detection. Background technique [0002] Although terrestrial laser has become a relatively mature and widely used technology, the automatic registration of multi-site laser point cloud data (referred to as "automatic registration") is still a relatively popular research direction, which helps to reduce time, manpower, The overhead of material resources, and enables non-professional users to obtain high-quality 3D data models. [0003] In actual operation, the method of target or manual marking is often used for registration. When the target object is difficult to approach, the use of the above methods is limited. Therefore, the automatic registration method between overlapping point clouds based on features becomes industry research hotspots. Currently, feature-ba...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
Inventor 王晏民石宏斌
Owner BEIJING UNIV OF CIVIL ENG & ARCHITECTURE
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