Point cloud data de-noising method and system

A point cloud data and data technology, applied in the field of computer vision, can solve the problems of low accuracy and large amount of calculation, and achieve the effect of improving efficiency and reducing the amount of calculated data.

Inactive Publication Date: 2017-03-29
HUNAN VISUALTOURING INFORMATION TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Embodiments of the present invention provide a method and system for denoising point cloud data to solve the problems of large amount of calculation and low accuracy in existing methods for denoising scattered point cloud data

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  • Point cloud data de-noising method and system
  • Point cloud data de-noising method and system
  • Point cloud data de-noising method and system

Examples

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Embodiment 1

[0024] figure 1 A flow chart of steps of a method for denoising point cloud data according to Embodiment 1 of the present invention is shown.

[0025] refer to figure 1 , the method for point cloud data denoising of the present embodiment comprises the following steps:

[0026] Step S100, acquiring three-dimensional point cloud data.

[0027] In this step, the point data collection of the appearance surface of the scanned object obtained by the measuring instrument is called point cloud data, and the three-dimensional point cloud data is the point data collection of the appearance surface of the scanned object obtained by a three-dimensional image acquisition device such as a laser scanner. In this embodiment, the scanning object may be any object. The 3D point cloud data can be scattered 3D point cloud data, including 3D coordinate XYZ information, the X direction indicates the positive direction of the horizontal axis, the Y direction indicates the positive direction of t...

Embodiment 2

[0034] figure 2 A flow chart of steps of a method for denoising point cloud data according to Embodiment 2 of the present invention is shown.

[0035] refer to figure 2 , the method for point cloud data denoising of the present embodiment comprises the following steps:

[0036] Step S200, acquiring three-dimensional point cloud data.

[0037] Specifically, the three-dimensional point cloud data of the scanned object is acquired through an image acquisition device.

[0038] In this embodiment, the three-dimensional point cloud data of the scanned object is obtained by scanning, and the three-dimensional point cloud data includes data of multiple frames of the scanned object.

[0039] Step S202 , projecting the 3D point cloud data onto a top-view 2D plane or a side-view 2D plane to obtain corresponding top-view 2D point cloud data or side-view 2D point cloud data.

[0040] Considering that the obtained 3D point cloud data is the 3D coordinate information of points, the sca...

Embodiment 3

[0056] Figure 4 A structural block diagram of a system for denoising point cloud data according to Embodiment 3 of the present invention is shown.

[0057] The system for denoising point cloud data in this embodiment includes: an acquisition module 400 for acquiring three-dimensional point cloud data; a projection module 402 for projecting the three-dimensional point cloud data onto a two-dimensional plane to obtain a two-dimensional point cloud Data; a denoising module 404, configured to perform neighbor denoising on the two-dimensional point cloud data.

[0058] According to a system for denoising point cloud data provided by an embodiment of the present invention, by obtaining three-dimensional point cloud data; projecting the three-dimensional point cloud data onto a two-dimensional plane to obtain two-dimensional point cloud data; Denoising, after deleting the noise points in the 2D point cloud data, the noise points in the 3D point cloud data can be deleted. Therefore...

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Abstract

The invention provides a point cloud data de-noising method and system. The method includes the following steps that: three-dimensional point cloud data are acquired; the three-dimensional point cloud data are projected onto a two-dimensional plane, so that two-dimensional point cloud data can be obtained; and near-neighbor de-noising is performed on the two-dimensional point cloud data. According to the point cloud data de-noising method and system provided by the embodiments of the invention, the three-dimensional point cloud data are projected onto the two-dimensional plane, so that the two-dimensional point cloud data can be obtained, and namely, the three-dimensional point cloud data are converted into the two-dimensional point cloud data, and therefore, the data amount of the point cloud data can be decreased; and near-neighbor de-noising is performed on the two-dimensional point cloud data; and therefore, compared with a mode according to which near-neighbor de-noising is performed on three-dimensional point cloud data, the method can assist in decreasing the amount of data for calculation and improve de-noising efficiency.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of computer vision, and in particular to a method and system for denoising point cloud data. Background technique [0002] With the advancement of science and technology and the continuous development of people's demand for world cognition, traditional machine vision can no longer meet people's requirements for three-dimensional object recognition. Since the three-dimensional image is not affected by the direction of the light source and the emission characteristics of the surface of the object, and there is no shadow, it can more accurately represent the three-dimensional depth information of the target surface of the object. [0003] When the 3D point cloud data is acquired by equipment such as a 3D scanner or a laser range finder, there are noise points in the acquired 3D point cloud data due to the defects of the equipment itself or human disturbance. The existence of noise points ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T19/00
CPCG06T19/00
Inventor 滕书华谭志国张鹏
Owner HUNAN VISUALTOURING INFORMATION TECH CO LTD
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