Hierarchical multi-piece point cloud rigid registration method

A rigid registration and hierarchical technology, applied in the field of 3D modeling, can solve problems such as algorithm robustness decline, error in results, and falling into local optimal solutions, etc., to achieve small registration errors, low dependence, and high computing resources. The effect of taking up less

Active Publication Date: 2015-10-07
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

As the number of point cloud slices increases, the condition of the initial position of the point cloud becomes worse, the robustness of the algorithm will decrease, and the final registration result may be wrong or fall into a local optimal solution

Method used

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  • Hierarchical multi-piece point cloud rigid registration method
  • Hierarchical multi-piece point cloud rigid registration method
  • Hierarchical multi-piece point cloud rigid registration method

Examples

Experimental program
Comparison scheme
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Embodiment Construction

[0048] Such as figure 1 As shown, the implementation steps of the layered multi-piece point cloud registration method in this embodiment are as follows:

[0049] step 1):

[0050] Establish a connection relationship graph that represents the overlapping relationship between multiple point clouds. Each node in the graph represents a point cloud, and each edge connects two overlapping point clouds.

[0051] Step (2):

[0052] Rigid registration is performed on every two connected point clouds in the connection diagram, and the rigid body transformation between the two point clouds after rigid registration, overlapping area and point-to-point correspondence are recorded.

[0053] Step (3):

[0054] Take the overlapping area between each two point clouds calculated in step (2) as the weight, extract the maximum spanning tree in the connection graph, and then use this tree as a benchmark, according to the maximum overlapping area and the shortest loop The principle of length ex...

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Abstract

The invention discloses a hierarchical multi-piece point cloud rigid registration method, including the steps of: (1) building a connection relation map according to overlapping relations of multiple pieces of point clouds; (2) performing rigid registration on each two pieces of point clouds having a connection relation; (3) extracting independent loops in the point cloud connection relation map; (4) calculating the closing degree of each independent loop according to a point cloud rigid registration result; (5) determining a sequence according to the closing degree of each independent loop, and performing closing operation on each independent loop successively; and (6) performing global error diffusion on the connection relation map. The hierarchical multi-piece point cloud rigid registration method provided by the invention can perform rigid registration on multiple pieces of point clouds and ensure closure of rigid transformation between the point clouds, and has the advantages of small registration error, high operation efficiency and low dependence on initial position conditions of the point clouds.

Description

technical field [0001] The invention relates to the field of 3D modeling for real objects in computer graphics, and in particular to a multi-piece point cloud rigid registration method for layering 3D modeling of real objects by means of a three-dimensional surface data acquisition device. Background technique [0002] The so-called multi-piece point cloud rigid registration refers to the process of aligning the positions of multiple overlapping point clouds through rigid body transformation. Usually these point cloud data are the three-dimensional surface data of objects collected by using three-dimensional data acquisition equipment, such as three-dimensional scanning instruments. The so-called point cloud is a collection of discrete three-dimensional points. The purpose of alignment is to keep the overlapping parts of the point clouds consistent in spatial position, so as to form the surface of a complete object. The research on multi-piece point cloud rigid registratio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
CPCG06T2200/04
Inventor 冯结青唐逸之
Owner ZHEJIANG UNIV
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