Point cloud registration method for three-dimensional reconstruction

A point cloud registration and three-dimensional reconstruction technology, applied in the field of image processing, can solve the problems of increased calculation, low precision, slow speed, etc., and achieve the effect of improving registration accuracy, improving registration efficiency, and improving registration accuracy

Active Publication Date: 2018-04-06
CHONGQING UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] (1) The speed is fast, but the precision is low; the less key feature points are selected, the smaller the calculation amount is, and the faster the convergence speed is, but the precision is correspondingly

Method used

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  • Point cloud registration method for three-dimensional reconstruction
  • Point cloud registration method for three-dimensional reconstruction
  • Point cloud registration method for three-dimensional reconstruction

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Embodiment Construction

[0059] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0060] Such as figure 1 As shown, the present invention discloses a point cloud registration method for three-dimensional reconstruction, comprising the following steps:

[0061] S101. Use a 3D scanner to scan the surface of the object from different perspectives to obtain at least two perspective 3D point clouds, and take the two perspective 3D point clouds as the source point set P and the target point set Q respectively;

[0062] S102, constructing a KD-tree for P and Q;

[0063] Wherein, the construction steps of point cloud KD-tree in the present invention are as follows:

[0064] 1) Find the variance of all points in the point cloud in the x, y, and z dimensions respectively;

[0065] 2) Set the dimension with the largest variance as the split domain;

[0066] 3) Sort all the points according to the value of the split field, and take the median poin...

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Abstract

The invention discloses a point cloud registration method for three-dimensional reconstruction. The point cloud registration method comprises the steps of S101, acquiring three-dimensional point clouds at multiple view angles, and adopting three-dimensional point clouds at two view angles as a source point set and a target point set respectively; S102, constructing a KD-tree; S103, figuring out the normal vectors of all points in the source point set; S104, calculating an average value of the included angles of the normal vectors; S105, classifying points in the source point set and setting amaximum resolution, wherein the initial resolution is 1; S106, calculating the sampling proportion of each stage in the source point set at the current resolution and extracting a sampling point; S107, figuring out the matching point of the sampling point in the target point set on the basis of the matching degree in the method; S108, calculating a rotation matrix and a translation matrix by usinga quaternion method; S109, converting the source point set to obtain a new source point set; S110, repeating the steps from S107 to S109 until a objective function is the minimum; S111, if a preset condition is met, ending the process; otherwise, adding 1 to the current resolution, and returning to the step S106. According to the invention, low-resolution matching points are used for rapidly completing the registration. The high-resolution matching points are used for improving the precision. Meanwhile, matching points are searched for through the matching degree. The registration speed and the registration precision of large-scale point clouds are greatly improved.

Description

technical field [0001] The invention belongs to the technical field of image processing, and in particular relates to a point cloud registration method for three-dimensional reconstruction. Background technique [0002] In recent years, with the increasing maturity of 3D scanning technology and the rapid development of computer vision technology, 3D reconstruction technology is being widely used in many fields such as 3D printing, machine vision, digital archaeology, medical development, etc. scholars' attention. [0003] Due to the limited scanning angle of view of the 3D scanning equipment, only a part of the point cloud data of the object can be obtained each time the object is measured. In the actual application process, the object is usually scanned multiple times from different angles of view and then registered to realize the reproduction of the 3D object. Therefore, point cloud registration is particularly important in the process of 3D object reconstruction. [00...

Claims

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Application Information

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IPC IPC(8): G06T7/33
CPCG06T7/33G06T2207/10028
Inventor 王勇邹辉黎春闫河何养明陈荟西
Owner CHONGQING UNIV OF TECH
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