Point cloud automatic registering method based on point characteristic histogram

Abstract

The invention discloses a point cloud automatic registering method based on a point characteristic histogram. The point cloud automatic registering method is characterized in that multi-station acquisition of point cloud data of a measured object is carried out, and a reference station and a to-be-registered station are determined; m sampling points are selected from the cloud data of two stations randomly, and any three of the sampling points do not share a line, and every two sampling points satisfy a distance constraint principle; the corresponding point pair matching of the two stations are carried out, and the corresponding point pair triangular network of the reference station sampling point set and the to-be-registered station sampling point set are almost congruent; the transformation matrix of the point cloud data of the to-be-registered station is acquired, and point characteristic histogram difference values are calculated to acquire matching errors; the transformation matrix corresponding to the minimum matching error is selected; the point cloud data of the superposed area of the point cloud data of the two stations is calculated, and a refined registration matrix is acquired by an iterative closest point algorithm. The point cloud automatic registering method is used to solve the problem that when the point cloud superposition degree of two adjacent stations is small or the superposed area characteristics are not obvious, the point cloud data matching is easily trapped by the local minimum solution, and has advantages of high accuracy and high integral efficiency.

Description

technical field [0001] The invention belongs to the field of point cloud data registration, in particular to an automatic point cloud registration method based on a point feature histogram. Background technique [0002] 3D laser scanning technology emerged in the reverse engineering of the industrial field in the early days, and was mainly used in the industrial manufacturing fields such as handicraft design, automobile, aircraft and shipbuilding, and was gradually applied to the surveying and mapping industry. Usually, the 3D laser scanning work is affected by factors such as the wide range of the measured object, the limited measurement range of the scanning equipment, and object occlusion. It is necessary to set up multiple stations to scan at different angles to obtain the surface of the measured object. Overall point cloud data. According to the scanning principle of the scanner, the collected 3D point cloud coordinate data is not in a unified coordinate system, so it ...

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Problems solved by technology

[0005] An object of the present invention is to provide a point cloud automatic registration method based on point feature histograms, which can solve the problem of point clouds in the prior art when the overlapping degree of adjacent two site clouds is small or the characteristics of the overlapping area are not obvious. It is easy to fall into the problem of local minimum solution during data registration, and this method has high accuracy and high overall efficiency

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