Automatic three-dimensional point cloud registration method applicable to ToF (Time of Flight) camera and system

Abstract

The invention discloses an automatic three-dimensional point cloud registration method applicable to a ToF (Time of Flight) camera and a system. Diffuse reflection material is laid and stuck on the upper surface of a turntable, round marking points are arranged at intervals on the diffuse reflection material, and the ToF camera and the controllable turntable are both connected with a computer. Data are acquired through the ToF camera, the turntable is recognized in the three-dimensional point cloud, the turning angle of the turntable is combined for carrying out coarse registration on the three-dimensional point cloud, measured object point cloud is acquired through background segmentation, marking point cloud is then acquired through recognizing the marking points on the turntable in a strength image and combining the coarse registration three-dimensional point cloud, registration of each view angle marking point cloud is completed by using a local gradual registration method, and finally, the marking point cloud registration result is applied to the measured object point cloud, and the registration process is completed. Compared with the prior art, the method and the system have the advantages of good accuracy, strong robustness, good usability, low cost, and wide application.

Description

technical field [0001] The invention relates to the technical field of three-dimensional scanning, and in particular, to a method and system for automatic registration of three-dimensional point clouds suitable for ToF cameras. Background technique [0002] The ToF camera is a 3D imager based on the time-of-flight ranging principle. It can not only obtain intensity images like traditional 2D cameras, but also obtain the corresponding distance from each pixel on the photosensitive device to the target object in real time, which can then be calculated. Get a 3D point cloud. Since the ToF camera measures by actively emitting light, it has lower requirements on the light environment and has better robustness. [0003] When constructing a 3D scanning system with a ToF camera, due to the occlusion of the object itself, the complete 3D data of the measured object cannot be obtained in one scan, so it is usually necessary to scan from different directions of the measured object. T...

AI Technical Summary

Problems solved by technology

The problem with this method is that due to the error in the point cloud scanned by the ToF camera, and even local point cloud deformation due to the influence of the material of the object to be measured, it is easy to generate cumulative errors when using the ICP method directly on the point cloud of the object to be measured. , leading to the problem of difficult global optimization registration

Although this method does not have high requirements for the turntable and avoids the problems caused by the ICP method, it needs to be calibrated in advance and has certain requirements for the light environment, which limits its ease of use.

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