Boundary feature point registering method for point cloud splicing in three-dimensional scanning system

A technology of 3D scanning and point cloud stitching, which is applied in image data processing, measuring devices, instruments, etc., and can solve problems such as registration falling into local optimum

Inactive Publication Date: 2014-07-30
CHONGQING UNIV OF TECH
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Problems solved by technology

Otherwise, when the rotation misalignment and translation misalignment of the two point clouds are relatively large, only using the improved ICP precise registration will cause the registration to fall into a local optimum

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  • Boundary feature point registering method for point cloud splicing in three-dimensional scanning system
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  • Boundary feature point registering method for point cloud splicing in three-dimensional scanning system

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Embodiment Construction

[0050] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0051] A boundary feature point registration method for point cloud splicing in a three-dimensional scanning system, the method comprising the following steps:

[0052] (1), use a three-dimensional scanner to scan the outline of the physical model from different perspectives, and obtain multi-view three-dimensional sampling point data;

[0053] (2), for the two pieces of three-dimensional sampling point data of the same physical model under different viewing angles, the boundary feature points of the two pieces of three-dimensional sampling point data are respectively extracted by using the boundary detection method of the center of gravity distance feature of the point cloud;

[0054] (3) Among the two extracted boundary feature points, fix one of them as the reference point set and the other as the target point set, use the K-D tree...

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Abstract

The invention discloses a boundary feature point registering method for point cloud splicing in a three-dimensional scanning system. The method comprises the following steps that (1) a three-dimensional laser scanner acquires space sampling points on the surfaces of a real object in different view angles; (2) a boundary detecting method of a point cloud gravity center distance feature is used for extracting point cloud boundary feature points in different viewing angles; (3) an improved iterative closest point (ICP) algorithm is used for registering point cloud according to the extracted point cloud boundary feature points; (4) the registering precision is evaluated according to a registering error standard, and whether a registering result meets a registering request or not is verified. According to the boundary feature point registering method for point cloud splicing in the three-dimensional scanning system, boundary feature point extraction is conducted on the point cloud to be registered, the defect that all points in point cloud data need to be traversed to search for the corresponding points in a traditional ICP algorithm is overcome, on the basis that the registering precision is guaranteed, the complexity of the algorithm is effectively lowered, and meanwhile the efficiency of point cloud registering is obviously improved.

Description

technical field [0001] The invention belongs to the technical fields of reverse engineering, image processing, etc., and in particular relates to a method for registering boundary feature points for point cloud splicing in a three-dimensional scanning system. Background technique [0002] Point cloud data generally obtains the three-dimensional geometric coordinates of discrete points on the surface of the object through measuring instruments such as a three-dimensional scanner. Due to the limitations of the size of the object to be measured, the environment, and the measurement equipment, only one side of the object can be measured at a time. Therefore, In order to obtain complete data information of the measured object, it is necessary to scan the object from many different angles. The process of unifying point cloud data from different perspectives into the same coordinate system is the registration of point cloud data. With the wide application of 3D model reconstructio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G01B21/20
Inventor 王勇唐靖饶勤菲
Owner CHONGQING UNIV OF TECH
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