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3D point cloud automatic registration method

A three-dimensional point cloud, fully automatic technology, applied in image data processing, instruments, details involving 3D image data, etc., can solve the problem of not fully automatic registration, roughness, etc., and achieve good automatic registration and simplify points. effect on quantity

Active Publication Date: 2018-03-20
WISESOFT CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the existing methods cannot fully realize automatic registration, because most of them need to manually specify rough initial registration conditions, and then the algorithm completes the final integrated registration calculation process

Method used

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Embodiment Construction

[0030] The present invention will be further described in detail below in combination with specific embodiments. However, it should not be understood that the scope of the above subject matter of the present invention is limited to the following embodiments, and all technologies realized based on the content of the present invention belong to the scope of the present invention.

[0031] Specifically, such as figure 1 As shown, the present invention is described in conjunction with a specific embodiment. Including the following steps:

[0032] S100: Input two sets of point cloud data A and B with triangular grids, and preprocess the data. The normal and boundary of the two sets of point clouds are calculated separately for the original grid point cloud data. Generally, structured light measurement equipment can measure up to 100,000 data points. At the same time, the obtained point cloud data is very densely arranged, and there is a lot of redundancy, which will cause slow c...

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Abstract

The invention discloses a three-dimensional point cloud full-automatic registration method. The method includes the following steps that: two groups of point cloud data A and B are inputted, the normal directions and boundaries of the two groups of point cloud data A and B are calculated, and the data are simplified, and boundary points are removed; three-dimensional feature processing is performed on the pre-processed point cloud data A and B, so that corresponding three-dimensional feature descriptors Key A and Key B are obtained; as for each datum in the Key A, a plurality of points which are nearest to each datum in the Key are searched in the Key B, and are adopted as preliminary corresponding points, and corresponding points which do not satisfy a predetermined condition are removed from the preliminary corresponding points, so that a final candidate point set can be obtained; rigid transformation matrixes are calculated for each group of candidate point pair so as to form a candidate matrix set; and confidence factors are calculated for each candidate matrix according to the candidate matrix set, a candidate matrix with a maximum confidence factor is selected as a final rigid transformation matrix, and source point cloud is transformed to a coordinate system of target point cloud through the rigid transformation matrix.

Description

technical field [0001] The invention relates to the field of reverse engineering, in particular to a method for fully automatic registration of three-dimensional point clouds. Background technique [0002] Point cloud registration is an important topic in the field of reverse engineering. Due to the linear propagation characteristics of light, the measuring instrument can only collect part of the surface data of the object at one viewing angle, and the data of the entire surface of the object needs to be analyzed from different viewing angles. Several scans are measured, but each scan is carried out in the current coordinate system, so it is necessary to transform the multiple measurement data into a unified and suitable coordinate system through point cloud registration to obtain the information of the complete surface of the object . [0003] Point cloud registration is to realize the traceless merging of point clouds through rigid body transformation of multiple point cl...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/33
CPCG06T2200/04
Inventor 范文文潘雷雷荆海龙
Owner WISESOFT CO LTD
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