A 3D Point Cloud Motion Compensation Method

Abstract

The invention relates to a three-dimensional point cloud motion compensation method, comprising the following steps: respectively connecting central points, scanned twice, of a point cloud with central points, scanned twice, of a target shape; respectively selecting one point from two connections, and traversing until two points with the nearest distance are gotten; calculating a mean value of thetwo nearest points, and taking the mean value point as a suspected target rotation center coordinate; taking the suspected target rotation center coordinate as an original point, traversing positionsin a plurality of ranges, and performing motion compensation by taking the traversed positions as a point cloud rotation center respectively; calculating a rotation center, movement speed of a targetcentral position and target rotational angular velocity, taking the numerical values as a basis, calculating a relative position error of each point, compensating each point in the point cloud, and then calculating a matching error of a compensated scanned point cloud with a target profile point cloud; traversing other rotation centers and performing motion compensation on the scanned point cloud, and getting the matching errors of the compensated point cloud; and taking one group of compensated scanned point clouds with the smallest matching error, and taking as a final compensated point cloud. The three-dimensional point cloud motion compensation method provided by the invention is high in point cloud compensation accuracy.

Description

technical field [0001] The invention relates to a three-dimensional point cloud motion compensation method. Background technique [0002] Laser point cloud has been widely used in target position and attitude calculation. When the laser scans the non-cooperative target, due to the time interval between point cloud collection, if the relative movement speed or rotational angular velocity of the non-cooperative target and the laser is too fast, the position of the scanned point cloud and the actual shape point of the target will be offset. If the point cloud in this case is used for position and attitude calculation, errors will occur. Therefore, in the case of too fast movement of the target or too fast rotation of its own attitude, it is necessary to perform point cloud motion compensation processing on the scanned point cloud to eliminate the position error of the point cloud and the corresponding calculated position and attitude error. [0003] Wang Jianjun et al. 2011 i...

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Problems solved by technology

[0003] Wang Jianjun et al. 2011 in the "Influence of Attitude Angle Perturbation on Airborne LiDAR Point Cloud Data" in the Journal of Instrumentation, due to the interference of various internal and external factors during the actual flight process, such as gusts, turbulence, engine vibration and control system Performance defects, etc., the airborne platform cannot maintain the ideal uniform linear motion state, resulting in attitude angle disturbances, resulting in changes in the scanning area and density distribution of the point cloud

Changes in the point cloud scanning area, for the measurement of narrow and long areas, such as roads, coastlines and power lines, will lead to missed scanning of the target area; changes in point cloud density will affect the accuracy of reconstruction

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