Point cloud simplifying and filtering method

A point cloud and coordinate origin technology, applied in the field of image processing, can solve the problems of low computing power of embedded processors, difficulty in meeting engineering application requirements, long time-consuming operation of existing methods, etc., and achieve point cloud simplification and fine calculation speed , the effect of meeting the processing time requirements

Active Publication Date: 2017-04-19
BEIJING INST OF CONTROL ENG
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Problems solved by technology

In engineering applications, point clouds are mostly processed based on embedded processors. Due to the low computing power of embedded processors, existing methods take a long time to run and are difficult to meet the needs

Method used

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  • Point cloud simplifying and filtering method

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Embodiment 1

[0059] (1) Taking the laser emission point of the laser scanner as the coordinate origin o, the horizontal direction as the x-axis, the vertical direction as the y-axis, the z-axis and the x and y axes meet the right-hand rule, and the angular distance coordinate system oxyz is established; The x-axis coordinate represents the horizontal swing angle α of the laser scanner, which is defined as positive to the left; the y-axis coordinate represents the vertical swing angle β of the laser scanner, which is defined as positive; the z-axis coordinate represents the laser emission point of the laser scanner to the target The distance value L;

[0060] (2) In the angular distance coordinate system oxyz, the point cloud takes the minimum angle corresponding to the α angle -4 degrees as the starting point and the maximum angle +4 degrees as the end point, and 41 points perpendicular to the x axis are divided on the x axis with an interval of 0.2 degrees The plane; starting from the minimu...

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Abstract

A point cloud simplifying and filtering method provided by the present invention comprises the steps of firstly establishing an angle distance coordinate system oxyz, then dividing cylinders, and simplifying the points in each minimum cylinder into a three dimensional angular distance point; and then utilizing the three dimensional angular distance points of the upper and lower and the right and left cylinders to filter the three dimensional angular distance point of the current cylinder; after the filtered three dimensional angular distance points in the angle distance coordinate system oxyz are transformed into the three dimensional angular distance points in a three dimensional position coordinate system o'x'y'z', furthering simplifying into the three dimensional distance points by the cylinder segmentation; and then in the three dimensional position coordinate system o'x'y'z', utilizing the three dimensional distance points of the upper and lower and the right and left cylinders to further filter the three dimensional distance point of the current cylinder. The method of the present invention is high in point cloud simplifying and filtering precision, fast in operation speed and small in memory occupation space.

Description

Technical field [0001] The invention relates to a point cloud simplified filtering method, which belongs to the technical field of image processing. Background technique [0002] The three-dimensional laser scanner uses a laser beam to continuously scan along the solid surface, and the diffuse reflection light spot formed on the measured solid surface is imaged on the sensor. These dense point data are vividly called "point clouds", which can truly describe the overall structure and morphological characteristics of the measured entity. [0003] In the point cloud acquisition process, the distance L between the scanning head and the object to be measured can be calculated according to the time difference between the launch and the reception of the laser beam. The scanning data of the pendulum mirror can be used to obtain the laser emission azimuth, namely the α angle and the β angle. The combination of distance and orientation can measure the three-dimensional coordinates of each ...

Claims

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Application Information

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IPC IPC(8): G06T5/00G01B11/24
CPCG01B11/24G06T5/002G06T2207/20024
Inventor 刘达王立李轶朱飞虎吴云郭绍刚刘忠汉
Owner BEIJING INST OF CONTROL ENG
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