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Cylindrical neighborhood applicable to multi-view point cloud processing and searching method thereof

A cylindrical, multi-view technology, applied in image data processing, using optical devices, measuring devices, etc., can solve problems such as search errors, missing neighborhood data, and incomplete neighborhoods.

Active Publication Date: 2014-07-09
XIDIAN UNIV
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  • Abstract
  • Description
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AI Technical Summary

Problems solved by technology

The shortcomings of spherical neighborhood search are mainly reflected in the following two aspects: (1) Affected by factors such as measurement accuracy and matching deviation, there are gaps between multi-view point clouds. When searching the neighborhood of point data, some neighborhood points The data is outside the spherical area due to gaps, resulting in missing data in this part of the neighborhood
Therefore, when searching the neighborhood of point data in the overlapping area of ​​multi-view dense point cloud data, the searched neighborhood is incomplete
(2) For the point cloud data of thin objects, such as the point cloud data of thin-walled blades, when the search radius is greater than the thickness size, when searching the neighborhood of point data on a certain surface, the points on the other surface will be The data is also included, causing the search to go wrong

Method used

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  • Cylindrical neighborhood applicable to multi-view point cloud processing and searching method thereof
  • Cylindrical neighborhood applicable to multi-view point cloud processing and searching method thereof
  • Cylindrical neighborhood applicable to multi-view point cloud processing and searching method thereof

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Embodiment 1

[0055] This embodiment proposes a cylindrical neighborhood and its search method suitable for multi-view point cloud processing, to figure 1 Point cloud scan in 1 The cylindrical neighborhood of midpoint data P and its search method are illustrated as follows:

[0056] figure 1 Midpoint cloud scan 1 and point cloud scan 2 have the same direction, overlap with each other and the point cloud gap size is G. point cloud scan 1 The cylindrical neighborhood of the midpoint data P is the point data set Ω contained in the cylindrical area with the point data P as the center, the normal vector n direction of the point data P as the axis direction, the radius of the bottom surface is r, and the height is h . The point data set Ω contains both the point cloud scan 1 The point data located in the cylindrical area in the middle contains the point cloud scan 2 Point data in a cylindrical area in . It should be emphasized that the point data in the point data set Ω satisfies both th...

Embodiment 2

[0103] Such as Figure 6 and Figure 7 As shown, the traditional spherical neighborhood search method and the search method of the present invention are used to search for two parallel and overlapping point cloud scans with a certain gap. 1 with scan 2 The neighborhood of the midpoint data and calculate the center of gravity. From Figure 6 It can be seen that when the traditional spherical neighborhood search method is used to search the neighborhood, the two-layer CentroidLayer is finally obtained after calculation. 1 with CentroidLayer 2 , and the center of gravity CentroidLayer 1 Bias point cloud scan 1 One side, while the center of gravity CentroidLayer 2 Bias point cloud scan 2 side. The reason for this phenomenon is that the search point cloud scan 1 When the neighborhood of the midpoint data, P 1 For example, the neighborhood point data contained in the spherical neighborhood is in the scan 1 The number in the scan is more than 2 In the number, the center ...

Embodiment 3

[0105] As shown in Figure 8(a), Figure 8(b), Figure 9(a) and Figure 9(b), the traditional spherical neighborhood search method and the cylindrical neighborhood search method proposed by the present invention are used to search for a thin wall Neighborhood information of a point data in the leaf point cloud, where the black dots in Figure 8(a), Figure 8(b), and Figure 9(a) represent the searched neighborhood. The radius of the spherical neighborhood is set to be the same as the radius of the base of the cylindrical neighborhood in the search. From Figure 8(a) and Figure 8(b), it can be seen that when the traditional spherical neighborhood search method is used to search, some point data on the back of the blade are mistaken for the neighborhood of a certain point data on the front (the black part in the figure indicates Searched Neighborhood), resulting in an error. From Figure 9(a) and Figure 9(b), it can be seen that when the method of the present invention is used to search...

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Abstract

The invention discloses a cylindrical neighborhood applicable to multi-view point cloud processing and a searching method of the cylindrical neighborhood. The cylindrical neighborhood is defined as a set of point data which are in a cylindrical region and meet the Euclidean distance criterion and the normal vector criterion at the same time. The searching method of the cylindrical neighborhood comprises the steps of (1) normal vector estimation of the point data, (2) octree construction, (3) positioning of nodes where the point data are located, (4) construction of the cylindrical region, (5) solution domain space calculation and (6) cylindrical neighborhood solution. Compared with a traditional spherical neighborhood searching method, the searching method of the cylindrical neighborhood has the advantages that a search range is expanded in the direction of normal vectors of the point data, the influence caused by multi-view point cloud overlapping region layering is eliminated, and neighborhood searching integrity is improved; besides, the normal vector criterion is introduced to neighborhood solution, defects of the Euclidean distance criterion are overcome, and neighborhood searching reasonability is improved.

Description

technical field [0001] The invention belongs to the technical field of optical three-dimensional measurement, relates to a point cloud neighborhood and a search method thereof, and further relates to a new cylindrical neighborhood and a search method thereof for multi-view point cloud processing including overlapping regions. Background technique [0002] Optical three-dimensional measurement technology is an intelligent and visualized high-tech integrating optical, mechanical, electrical and computer technologies. It is mainly used to scan the shape and structure of the object space to obtain the three-dimensional outline of the object and obtain the three-dimensional surface points of the object. spatial coordinates. With the progress of modern detection technology, especially with the development of high-tech such as laser technology, computer technology and image processing technology, three-dimensional measurement technology has gradually become the focus of people's re...

Claims

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Application Information

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IPC IPC(8): G06T7/00G01B11/24
Inventor 史宝全
Owner XIDIAN UNIV
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