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LIDAR point cloud registration method under model straight line constraints

A point cloud splicing, straight line technology, applied in the field of LIDAR point cloud splicing, can solve the problem of low splicing accuracy

Active Publication Date: 2015-04-29
SUZHOU ZHONGKE IMAGE SKY REMOTE SENSING TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The stitching method based on straight line primitives generally uses the closest endpoint of the straight line with the same name, and then calculates the stitching parameters according to the endpoint information of the corresponding straight line. The element is still a point, and the splicing accuracy is low

Method used

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  • LIDAR point cloud registration method under model straight line constraints
  • LIDAR point cloud registration method under model straight line constraints
  • LIDAR point cloud registration method under model straight line constraints

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Embodiment Construction

[0063] The LIDAR point cloud splicing method under the model straight line constraint of the present invention comprises the following steps:

[0064] Step A: Extract straight lines with the same name on the LIDAR point clouds of the reference station and the station to be spliced;

[0065] Step B: Create a model straight line with the same name from the straight line with the same name in step A;

[0066] Step C: Establish the collinear conditional equation of the model straight line, so that the straight line scaling, rotation and translation of the model to be stitched coincide with the straight line of the reference model;

[0067] Step D: Solve and calculate the splicing parameters.

[0068] Wherein: the establishment method of the model straight line in step B is:

[0069] (B-1): Obtain any straight line l in the model straight line on the LIDAR point cloud of the station to be spliced, and express it as: l=[0 M N O 0 M 0 N 0 o 0 ], where (M,N,O) and (M 0 ,N 0 ,O ...

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Abstract

The invention discloses an LIDAR point cloud registration method under model straight line constraints and belongs to surveying and mapping fields. Homonymous straight lines are extracted from LIDAR point clouds on a reference survey station and a survey station to be registered respectively; homonymous model straight lines are established; a model straight line collinear condition equation is established, so that a model straight line to be registered is linearly zoomed, rotated and horizontally moved to coincide with a reference model straight line; registration parameters are calculated. LIDAR point cloud registration is conducted by means of the model straight lines, geometric constraint performance of the straight lines is brought into full play, geometric strength of a stereoscopic model can be enhanced, and therefore precision of LIDAR point cloud registration is improved.

Description

Technical field: [0001] The invention discloses a LIDAR point cloud splicing method under the constraints of model straight lines, relates to the technical field of photogrammetry, and belongs to the combination technology of the surveying and mapping technical field and the image processing field. Background technique: [0002] LIDAR is an important means of acquiring urban spatial information. Due to the high complexity of urban spatial objects, LIDAR point cloud acquisition usually requires scanning spatial objects from different perspectives, and then splicing adjacent station point clouds to achieve spatial object accuracy. full expression. According to primitives, the stitching method mainly utilizes homonymous points and homonymous lines between LIDAR point clouds. In fact, there is no completely corresponding point feature with the same name among the point clouds to be stitched, which makes it difficult to guarantee the accuracy of the point feature stitching algor...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T5/50G06T3/40
Inventor 盛庆红肖晖张斌柳建锋王惠南
Owner SUZHOU ZHONGKE IMAGE SKY REMOTE SENSING TECH CO LTD
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