Method and device for registering point cloud data

Abstract

The invention discloses a method and a device for registering point cloud data, and belongs to the technical field of computers. The method comprises steps as follows: the point cloud data of every two adjacent frames are registered to obtain target attitude transformation parameters between the point cloud data of every two adjacent frames; the point cloud data of each frame are accumulated according to each target attitude transformation parameter to obtain initial registered point cloud data; registration reference data are extracted from the initial registered point cloud data and have the high registration degree; the point cloud data of each frame are registered again by referring to the registration reference data so as to obtain target registered point cloud data. According to the method and the device for registering the point cloud data, the point cloud data of each frame are accumulated according to each target attitude transformation parameter, after the initial registered point cloud data are obtained, the registration reference data with the higher registration degree are further extracted from the initial registered point cloud data, the point cloud data of each frame are registered again by referring to the registration reference data, and accumulated errors can be reduced, so that a more accurate registration result can be obtained.

Description

technical field [0001] The invention relates to the field of computer technology, in particular to a registration method and device for point cloud data. Background technique [0002] With the rapid development of computer technology, 3D reconstruction technology has been widely used in computer-aided geometric design, computer graphics, computer animation, medical image processing and other fields. The core issue affecting the foundation of 3D reconstruction technology is how to accurately and quickly obtain the spatial position information of target objects such as scenes and objects. Specifically, when acquiring the spatial position information of the target object, scanning devices such as lidar are usually used to scan the target object multiple times under different postures. Point cloud data is the spatial coordinates of discrete points on the surface of the target object scanned by the scanning device. Due to limitations of the size of the target object, the enviro...

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Problems solved by technology

[0007] When the related technology performs the registration of point cloud data, it will accumulate the point cloud data of each frame according to the attitude transformation parameters between the point cloud data of each frame and every two adjacent frames of point cloud data, and the registration of adjacent For every two frames of point cloud data, there may be registration error problems due to noise data and other reasons. At this time, when accumulating each frame of point cloud data in a point cloud sequence, the error will be further amplified. It is easy to accumulate errors, resulting in inaccurate registration results

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