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A Point Cloud Registration Method Based on Optimal Transmission

A point cloud registration, point cloud technology, applied in image analysis, instrumentation, computing and other directions, can solve the problems of point cloud registration noise, partial overlap, missing, etc., to achieve the effect of robust registration

Active Publication Date: 2019-09-24
CHONGQING UNIV OF POSTS & TELECOMM
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In view of this, the purpose of the present invention is to provide a point cloud registration method based on optimal transmission, which can solve the problems of noise, missing and partial overlap existing in the current point cloud registration process

Method used

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  • A Point Cloud Registration Method Based on Optimal Transmission
  • A Point Cloud Registration Method Based on Optimal Transmission
  • A Point Cloud Registration Method Based on Optimal Transmission

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Embodiment Construction

[0062] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0063] see figure 1 , the embodiment of the present application provides a point cloud registration method based on optimal transmission, and the method includes the following steps.

[0064] S1: Input the data of the two point clouds to be registered, and perform quality allocation on the data of each point cloud;

[0065] S2: Using the optimal transmission theory to solve the transmission plan and transformation matrix of the two point clouds;

[0066] S3: Calculate the transmission cost of each point in the two point clouds, and detect abnormal points according to the calculated transmission cost;

[0067] S4: Adjust the quality of each point in the two point clouds according to the detection results;

[0068] S5: Repeat steps S2 to S4 on the two point clouds after adjusting the quality until no abnormal points are detected;

[0069]...

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Abstract

The invention relates to a point cloud configuration method based on optimal transmission. The method comprises the steps of S1, inputting data of two point clouds to be registered, and respectively performing mass distribution on the data of each point cloud; S2, solving transmission plans and transform matrixes of the two cloud points by using an optimal transmission theory; S3, computing transmission cost of each point in the two point clouds, and detecting abnormal points according to the computed transmission costs; S4, adjusting the mass of each point in the two point clouds according to a detection result; S5, repeatedly executing the steps S2 to S4 on the two point clouds with adjusted masses until no abnormal point is detected; and S6, applying the transform matrix corresponding to the point clouds in which no abnormal point is detected into the point clouds to register the point cloud data. According to the point cloud registration method based on optimal transmission provided by the invention, the problems about noise, missing and partial overlapping during a current point cloud registration process can be solved.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional graphic image processing, and relates to a point cloud registration method based on optimal transmission. Background technique [0002] Point cloud data registration is one of the most important research contents in computer graphics, and it is also a key technology in applications such as object recognition, pose estimation, face recognition, and surface matching. As a current research hotspot, 3D reconstruction has been widely used in various fields of life and entertainment, including manufacturing, medicine, archaeology, etc. The point cloud data matching criterion is an essential link in the process of 3D reconstruction. [0003] Point cloud registration is to transform the point cloud data obtained from different perspectives into a unified coordinate system to achieve point cloud alignment, thereby obtaining a 3D model closer to the real object. However, the obtained point cloud...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/33
Inventor 秦红星宋莎莎
Owner CHONGQING UNIV OF POSTS & TELECOMM
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