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A multi-view dense point cloud data fusion method

A dense point cloud and data fusion technology, applied in the direction of image data processing, electrical digital data processing, special data processing applications, etc., can solve the problems of unguaranteed point cloud and low efficiency, and achieve uniform density distribution and high efficiency of fusion point cloud High, reasonable fusion results

Active Publication Date: 2017-01-04
XIDIAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

On the one hand, the incremental fusion method is inefficient, and on the other hand, it cannot guarantee that the fused point cloud is located on the optimal surface

Method used

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  • A multi-view dense point cloud data fusion method
  • A multi-view dense point cloud data fusion method
  • A multi-view dense point cloud data fusion method

Examples

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Embodiment 1

[0060] The present invention proposes a multi-view dense point cloud data fusion method, such as figure 1 shown. When fusing multiple pieces of multi-view dense point cloud data, the first step is to input multi-view dense point cloud data. The input multi-view dense point cloud data is required to contain both 3D coordinate information and normal vector information. That is to say, each point data in the input multi-view dense point cloud p=(v,n), where v=(v x ,v y ,v z ) represents a three-dimensional coordinate vector, n=(n x ,n y ,n z ) represents a normal vector.

[0061] After inputting the multi-view dense point cloud data, before proceeding to the second step of topological relationship construction, it is necessary to calculate the average point distance D of the multi-view dense point cloud data for later use. The calculation method of the average point distance D of multi-view dense point cloud data is as follows:

[0062] 1) Randomly select a piece of poin...

Embodiment 2

[0105] Describe below in conjunction with simulation experiment, wherein the method of the present invention realizes corresponding calculation process on VS2010 and opengl platform and runs on the PC of Intel i7-4770CPU3.4GHz, 16GB internal memory.

[0106] Figure 5(a) shows the head point cloud data with overlapping parts of the three viewing angles, which contains a total of 1,023,124 3D point data. In order to show the overlapping area more clearly, Fig. 5(b) is an enlarged view of the part circled in the box in Fig. 5(a). Figure 5(c) shows the fused point cloud data, which contains a total of 574,097 point data, and the fusion process takes a total of 70s. Corresponding to Fig. 5(b), in order to more clearly show the effect of fusion of the overlapped area, Fig. 5(d) is an enlarged view of the part in the box circle in Fig. 5(c). This example can also illustrate that the method of the present invention can quickly fuse multi-viewpoint dense point cloud data into a comple...

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Abstract

The invention discloses a multi-view dense point cloud data fusion method and belongs to the technical field of optical three-dimensional non-contact measurement. The method comprises the steps that (1) multi-view dense point cloud data are input, (2) a topological relation is set up, (3) an overlapping region is recognized, (4) point data of the overlapping region are affiliated, (5) cluster fusion is carried out, and (6) a fusion result is output. The method effectively overcomes the defect of an existing point cloud fusion technology, and can fuse the multi-view dense point cloud data of multiple partially-overlapped regions to point cloud data which are integral, single-layered, fair and evenly distributed in one time.

Description

technical field [0001] The invention belongs to the technical field of optical three-dimensional non-contact measurement, relates to a multi-viewpoint dense point cloud data fusion method, and further relates to a new multi-viewpoint dense point cloud data combined with least squares surface fitting method and clustering technology Fusion method. 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 th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T5/00G06F17/30
Inventor 史宝全
Owner XIDIAN UNIV
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