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Registration method and device of panoramic image and point cloud

A panoramic image and panoramic technology, applied in the field of image processing, to achieve the effect of improving accuracy, improving efficiency, and solving problems of heterogeneity and heterogeneity

Inactive Publication Date: 2017-11-24
广东电网有限责任公司机巡作业中心 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, most of the current algorithms are based on ordinary framed images as data sources, not for panoramic images.

Method used

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  • Registration method and device of panoramic image and point cloud
  • Registration method and device of panoramic image and point cloud
  • Registration method and device of panoramic image and point cloud

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no. 1 example

[0036] An embodiment of the present invention provides a registration method of a panoramic image and a point cloud, which is used to realize the registration of a backpack-type lidar point cloud and a panoramic image data. see figure 2 , is a flow chart of a method for registering a panoramic image and a point cloud provided in an embodiment of the present invention, the method for registering a panoramic image and a point cloud includes:

[0037] Step S101: Obtain panoramic image data and point cloud data.

[0038]It can be understood that the panoramic image data is the data collected by the panoramic image acquisition system, and the point cloud data is the data collected by the backpack laser radar scanning system.

[0039] Step S102: Perform equidistant projection on the panoramic image data according to the pre-established panoramic transformation model to generate first projection data.

[0040] The panoramic image data is transformed into the first projection data ...

no. 2 example

[0088] An apparatus 200 for registering panoramic images and point clouds provided by an embodiment of the present invention is applied to the server 100 . It should be noted that the basic principles and technical effects of the panoramic image and point cloud registration device 200 provided in this embodiment are the same as those of the above-mentioned embodiments. For a brief description, some parts not mentioned in this embodiment are Reference may be made to the corresponding content in the foregoing embodiments.

[0089] see Image 6 , is a functional block diagram of the panoramic image and point cloud registration device 200 provided by the embodiment of the present invention. The apparatus 200 for registering panoramic images and point clouds includes a data acquisition unit 210 , a projection data generation unit 220 , a data optimization unit 230 , and a registration unit 240 .

[0090] The data acquiring unit 210 is used for acquiring panoramic image data and p...

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Abstract

An embodiment of the invention provides a registration method and a registration device of a panoramic image and point cloud, which relate to the technical field of image processing. According to the registration method and the registration device, panoramic image data is subjected to isometric projection by means of a pre-established panoramic conversion model to generate first projection data, and point cloud data is subjected to isometric projection by means of a pre-established point cloud conversion model to generate second projection data, thus a different-dimension heterogeneous problem between the panoramic image data and the point cloud data is effectively solved, and the panoramic image data and the point cloud data are converted into the projection data capable of being fused and registered; in addition, since the isometric projection mode is adopted, the conversion of the panoramic image data and the point cloud data can be realized while ensuring the invariance property of vertical lines in the real world, the precision of the registration process is increased, and since the panoramic image data and the point cloud data can be converted separately, the efficiency of the registration process can be improved.

Description

technical field [0001] The present invention relates to the technical field of image processing, in particular to a registration method and device for a panoramic image and a point cloud. Background technique [0002] Backpack lidar scanning system is a new type of high-efficiency measurement system developed in recent years, which can be applied to digital factories, digital mines, deformation monitoring, tunnel engineering, cultural heritage investigation, BIM modeling, power inspection, forestry resource investigation , law enforcement and evidence collection, etc. The backpack-type laser scanning system can quickly obtain accurate and massive three-dimensional space information of the target object. However, because the three-dimensional laser point cloud data does not have color information, it does not conform to the conventional visual interpretation habits. [0003] Panoramic image is a way of expressing super wide-angle field of view. It contains more intuitive and...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/30
CPCG06T7/30G06T2207/10028
Inventor 彭炽刚陈浩许志海柳亦钢孙晓敏翟瑞聪王年孝李雄刚蒙华伟
Owner 广东电网有限责任公司机巡作业中心
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