Detection method of an unstructured point cloud feature point and extraction method thereof
A feature point detection and unstructured technology, applied in the field of three-dimensional space target recognition, can solve the problem of large amount of unstructured point cloud data, unable to meet the requirements of unstructured point cloud feature extraction, and difficulty in feature point detection and description. And other issues
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[0024] The present invention provides an unstructured point cloud feature point extraction method, and designs and implements an unstructured point cloud-oriented feature detection and description algorithm. The details are as follows:
[0025] One is to design and implement a multi-scale 3D Harris feature point detection algorithm for unstructured 3D point cloud data. By using the neighborhood information of the sampling points in different scale spaces, the Harris response values of the sampling points in different scale spaces are calculated, and then the Harris response values in the optimal scale space are selected as the Harris response values of the sampling points through an iterative algorithm to obtain the feature point set Q, then take the point with the maximum of Harris response value in both the scale space neighborhood and the geometric neighborhood as candidate feature points, and finally use the feature point selection optimization strategy to extract the f...
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