Splicing method and system of three-dimensional scanning point cloud data
A point cloud data and 3D scanning technology, applied in the field of 3D scanning, can solve the problems of 3D scanning stitching accuracy, adaptability and poor stitching effect, and achieve the effect of precise stitching and improved accuracy
Active Publication Date: 2018-08-03
FUSSEN TECH CO LTD
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[0004]
In view of this, the present invention provides a splicing method and system for 3D scanning point cloud data, which solves the technical problems of poor accuracy, adaptability and poor splicing effect of existing 3D scanning splicing
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[0025] The technical solutions of the present invention will be further described in more detail in conjunction with the accompanying drawings and specific embodiments. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.
[0026] In the description of the present invention, it should be understood that the terms "first", "second" and so on are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance. In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, o...
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The invention relates to the field of three-dimensional scanning technology, and discloses a splicing method and system of three-dimensional scanning point cloud data. The splicing method of the three-dimensional scanning point cloud data includes: acquiring point cloud data of three-dimensional scanning, and preprocessing the point cloud data; carrying out iteration matching on the preprocessed point cloud data and point cloud data of a previous frame; according to preset iteration termination conditions and iteration matching conditions, determining whether iteration matching is successful;determining a key frame of the point cloud data when it is judged that iteration matching is successful; calculating point cloud data of the key frame and an iterative closest point (ICP) of all pointcloud data before the key frame for key-frame correction; and carrying out splicing of the point cloud data according to the corrected key frame. According to the method, the key frame is determinedand corrected through iteration matching of the point cloud data and the point cloud data of the previous frame, then fast and precise splicing of the three-dimensional scanning point cloud data is realized through the key frame, and precision, adaptability and splicing effect of splicing of the three-dimensional scanning point cloud data are improved.
Description
technical field [0001] The invention relates to the technical field of three-dimensional scanning, in particular to a splicing method and system for three-dimensional scanning point cloud data. Background technique [0002] 3D scanning technology is the basis of 3D spatial data modeling and is widely used in various industries. The existing 3D scanning technology obtains points in 3D space through multiple scans by scanning instruments at different viewing angles and integrates them into point cloud data. Scan point cloud data. [0003] Existing 3D scanning technologies usually use the iterative closest point method (ICP) to find the closest point pairs corresponding to two sets of point clouds by using Newton iteration or search methods, and use the Euclidean distance as the objective function for iteration to obtain the rigid body transformation of the 3D data. This method requires the point cloud data of each frame to have sufficient features and poor adaptability. At t...
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IPC IPC(8): G06T3/40G06T15/00
CPCG06T3/4038G06T15/00
Inventor 张佰春
Owner FUSSEN TECH CO LTD