Three-dimensional matching method of landmark points and three-dimensional scanning method for point cloud stitching

Abstract

The invention discloses a three-dimensional mark point matching method for point cloud registration and a three-dimensional scanning method, and belongs to the field of three-dimensional measurement technologies. The three-dimensional mark point matching method comprises the following steps: acquiring three-dimensional coordinate sets P and Q of two visual-angle mark points through a binocular camera; calculating energy of candidate matching points, which are in regard to a point p in the set P, in the set Q; selecting a certain updating strategy according to the 'uniqueness' constraint and the 'spatial feature unchange' constraint; if the matching points found out are all highest in energy and meet a threshold value condition and a restraint condition, ending iteration, otherwise, returning to iteration until the matching points meeting the conditions are found; calculating Euclid transformation according to the matching points, and performing splicing of multi-view point cloud. Compared with other mark point splicing methods, the splicing method has the advantages that the operation is simpler, the number of iteration times is small, 1-2 times of iteration are performed generally, the splicing time is greatly shortened, and a splicing result is stable and reliable under a condition of enough overlapping regions; the three-dimensional mark point matching method can be widely applied to multi-view point cloud data splicing acquired by various sets of measurement equipment.

Description

technical field [0001] A marker point three-dimensional matching method and a three-dimensional scanning method for point cloud splicing, which relate to the field of computer vision measurement, belong to the technical field of three-dimensional measurement methods and instruments, and in particular relate to the splicing of three-dimensional point cloud data of a three-dimensional scanning system. Background technique [0002] The three-dimensional contour measurement technology of objects is the premise and foundation of reverse engineering, product quality inspection, artificial intelligence, virtual reality and other technologies. With the development of science and technology and the continuous expansion of market demand, the optical-based non-contact three-dimensional object shape measurement technology has been greatly developed, and this technology has been widely used in various fields, such as digital preservation of culture and art, and medical research. Reconstr...

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Problems solved by technology

[0011] Aiming at the disadvantages of many iterations, long time, and unstable results in the existing method, the present invention proposes a form of calculating the energy of quasi-matching points, uses the idea of ​​relaxation algorithm, and quickly finds matching points through certain constraints and update strategies. Under the condition of sufficient overlapping area, only one or two iterations are needed to find most of the matching points, the time required is short, the result is stable, and the traditional method avoids a large number of iterative landmark points for point cloud stitching Three-dimensional matching method and three-dimensional scanning method

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