3D reconstruction method of distribution line operation scene based on point cloud

Abstract

The invention discloses a method for three-dimensional reconstruction of power distribution line operation scenes based on point clouds. The point cloud of parts and components of power distribution lines to be reconstructed is obtained by performing operations such as conditional filtering, down-sampling, outlier point removal, and segmentation on the initial point cloud, such as Lightning arresters and crossarms, etc., then use the SIFT 3D algorithm to extract key points, and use FPFH features to construct key point description vectors, use rough registration and improved ICP fine registration to complete point cloud registration, and obtain complete 3D point clouds of parts. That is, the offline model library is established, and then the point cloud is collected in real time. The point cloud of each component is registered with the model library model in turn to complete the 3D reconstruction. Finally, the Poisson surface reconstruction method is used to complete the surface reconstruction and obtain the 3D model. The invention realizes the semi-autonomous three-dimensional reconstruction of the power distribution line scene, reduces manual intervention, and aims at registration is an important step in three-dimensional reconstruction, adopts SIFT 3D key point extraction and FPFH feature description vector to ensure the quality of key points, and Set weights for the point-to-point relationship, eliminate wrong point pairs, speed up the registration speed, and improve the efficiency of 3D reconstruction.

Description

technical field [0001] The invention relates to the field of environment perception of live working robots, in particular to a method for three-dimensional reconstruction of power distribution line operation scenes based on point clouds. Background technique [0002] With the development of robot technology, robots are playing an increasingly important role in various fields. Applying robot technology to the power industry to replace manual power maintenance and repair work can greatly improve the safety and efficiency of operations. [0003] The use of robots for live work generally has a teleoperation mode and an autonomous mode, and no matter which mode it is, it is necessary to perform 3D reconstruction of the operation scene. Strong human-computer interaction operation; the second is to enable the robot to have scene perception capabilities, and can perform autonomous obstacle avoidance and motion planning [0004] The 3D reconstruction based on point cloud mainly inc...

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