A multi-plane recognition method for 3D point cloud
A 3D point cloud and recognition method technology, applied in 3D object recognition, character and pattern recognition, instruments, etc., can solve the problem of inaccurate estimation, and achieve the effect of high recognition efficiency, wide applicability, and strong distinguishing ability.
Active Publication Date: 2020-09-25
HOHAI UNIV
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[0005] In order to solve the deficiencies in the prior art, the present invention provides a multi-plane recognition method for 3D point cloud, which solves the problem of inaccurate estimation of the existing 3D point cloud plane recognition method
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[0045] The present invention will be further described below in conjunction with the accompanying drawings. The following examples are only used to illustrate the technical solution of the present invention more clearly, but not to limit the protection scope of the present invention.
[0046] Such as figure 1 As shown, a multi-plane recognition method for 3D point cloud, including steps:
[0047] Step 1. In a 3D point cloud with multiple planes, evaluate the possibility of planes nearby for each point, so that each point can obtain a reliability score m i , the specific steps include:
[0048] 1), assuming that the input point cloud is a point set containing n points P={P 1 ,...,P n}, where P i (1≤i≤n) represents the i-th three-dimensional point in the point cloud, such as figure 2 As shown in (a), according to the point P i The coordinates (x i ,y i ,z i ) and its normal N i (n xi ,n yi ,n zi ) to establish the local plane model of the point assuming S i , S ...
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The invention discloses a multi-plane recognition method for a three-dimensional point cloud, which is characterized in that it includes the steps: step 1, in a three-dimensional point cloud with multiple planes, evaluate the possibility of a nearby plane for each point, so that Each point obtains a reliability score; step 2, use the reliability score of the point, the normal deviation and the plane deviation between points to construct the spatial density tree of the entire point cloud for plane segmentation; step 3, construct A good spatial density tree is clipped, so that points on different planes are gathered on different subtrees, so as to realize multi-plane recognition. The present invention establishes a spatial density tree model suitable for plane segmentation for three-dimensional point clouds, and naturally divides multiple planes in the point cloud without specifying the number of planes, especially for very close parallel planes. Strong distinguishing ability, with the characteristics of efficient and accurate recognition, and has wide applicability to all kinds of point clouds with planes.
Description
technical field [0001] The invention relates to the fields of computer vision three-dimensional perception and three-dimensional point cloud processing, in particular to a multi-plane recognition method for three-dimensional point clouds. Background technique [0002] With the development and popularization of 3D scanning technology, photogrammetry and depth sensors, we can easily obtain massive 3D point cloud information. Compared with 2D image information, 3D point cloud can more accurately and intuitively describe the geometric properties of objects. In fact, the geometric shapes of life and industrial products are composed of geometric primitives such as planes, spheres, cylinders and cones. It is an important part of the field of 3D point cloud processing to automatically and efficiently analyze the geometric primitives of parts from point cloud data with rich information. [0003] As the basic geometric primitive, the plane is the most common and characteristic type ...
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IPC IPC(8): G06K9/00G06K9/62
CPCG06V20/647G06F18/2163
Inventor 李子宽李嘉蓝秋萍
Owner HOHAI UNIV