Clustering based point cloud segmentation method and system
A clustering center point and clustering technology, which is applied in the field of point cloud processing, can solve problems such as large influence of region growth, difficulty in classification number and surface type, difficulty in selecting appropriate growth criteria, etc.
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[0050] The technical solutions of the present invention will be further specifically described below through examples.
[0051] The technical scheme adopted in the present invention provides a kind of point cloud segmentation method based on clustering, comprises the following steps:
[0052] Step 1, calculate the normal vector, plane curvature and compatible set of each point, first construct a k-d tree for the input point cloud, and then use the nearest K points around it to fit each point to obtain the normal vector of the point and plane curvature, including the following substeps:
[0053] Step 1.1, build k-d tree. Using the open source code library ANN library, the k-dtree can be quickly constructed for the input point cloud. After the k-d tree is generated, each point can be indexed to its nearest K points. During specific implementation, those skilled in the art can preset the value of K by themselves. Considering the efficiency and stability of the algorithm, it is ...
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