Fast registration method of 3D point cloud data with color information

A three-dimensional point cloud and color information technology, applied in image data processing, instruments, computing, etc., can solve the problems of too many steps and complex point cloud registration, and achieve the effect of improving efficiency and shortening registration time.

Active Publication Date: 2017-11-14
CHUZHOU UNIV
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Problems solved by technology

[0007] In order to solve the existing 3D point cloud registration technology, there are mainly the following problems: 1) The traditional 3D point cloud registration steps mainly include: key point e

Method used

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  • Fast registration method of 3D point cloud data with color information
  • Fast registration method of 3D point cloud data with color information
  • Fast registration method of 3D point cloud data with color information

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Embodiment Construction

[0039] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0040] 1. Point information statistics and color filtering with the same color

[0041]Assume two point cloud datasets P and Q, where P is the target point set and Q is the registration point set. Theoretically, points with the same name in different datasets should have the same or similar colors, so there are some points with the same color in the two datasets. Count the RGB numbers in the two data sets separately, and classify all points into the same color, figure 1 and 2 Respectively represent the number of points in the target point set and registration point set with different RGB values.

[0042] Count the distribution of points owned by each color, and get Table 1.

[0043] Table 1 Number distribution of points with the same color in the two point cloud datasets

[0044]

[0045] In order to increase the probability o...

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Abstract

The invention discloses a fast registration method of 3D point cloud data with color information. The method comprises a step of counting color values in a target point set and a registration point set and the quantity distribution of points with a same color and filtering the color of RGB point cloud, a step of screening points with a same RGB value in two point sets and then setting a certain color tolerance for the registration point set, a step of extracting four initial points from one point selected in the target point set in each time, constructing a candidate point set similar to the characteristics of the four initial points in the registration point set, and judging whether the candidate point set is same name points of the four initial points, a step of allowing the four initial points and the corresponding four same name points to form four point pairs, using a total least square algorithm to calculate a rigid transform matrix, and completing the global registration of the registration point set, and a step of using a neighboring point iteration method to complete a final local registration finally. According to the method of the invention, the efficiency of point cloud registration can be greatly improved under the premise of maintaining high precision, and the registration time is shortened.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional (3D) laser point cloud data processing, relates to the field of 3D point cloud registration application technology, in particular to a fast global registration technology specially used for 3D RGB point cloud data. Background technique [0002] With the rapid development of laser scanning equipment, the acquisition of 3D laser point cloud data has become easier and easier, and the research on 3D point cloud data processing has become more extensive, such as: 3D point cloud registration, 3D object recognition, 3D Modeling etc. Among them, 3D point cloud registration is to splice 3D point cloud data measured multiple times into a complete data set under the same coordinate system, and since point cloud registration is the first step in point cloud data processing, the accuracy of the registration results It directly affects the follow-up work such as point cloud segmentation, feature extr...

Claims

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Application Information

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IPC IPC(8): G06T7/33
Inventor 李鹏王延霞刘玉婵李德亮钱如友曹传龙
Owner CHUZHOU UNIV
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