A multi-channel 3D color point cloud registration method based on geometry

A color point cloud and geometric shape technology, applied in image data processing, instrumentation, computing, etc., can solve problems such as low efficiency and long registration time

Active Publication Date: 2019-02-15
DALIAN UNIV OF TECH
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Problems solved by technology

This method solves the problem of long registration time and low efficiency due to the large amount of 3D color point cloud data, and fully utilizes the multi-channel advantages of various geometric shapes

Method used

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  • A multi-channel 3D color point cloud registration method based on geometry
  • A multi-channel 3D color point cloud registration method based on geometry
  • A multi-channel 3D color point cloud registration method based on geometry

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Embodiment Construction

[0043] The present invention will be further described below in conjunction with accompanying drawing.

[0044] Such as figure 1 As shown, a geometric shape-based multi-channel 3D color point cloud registration method includes the following steps:

[0045] Step 1. Acquisition of 3D color point cloud data. Use the 3D laser color scanning ranging system to scan the same scene at two different positions to obtain two 3D color point cloud data P={p i =(x i ,y i ,z i ,r i , g i ,b i )|1≤i≤n} and Among them, p i is the color point in the 3D color point cloud data P, (x i ,y i ,z i ) is the colored point p i coordinates, (r i , g i ,b i ) is the colored point p i , n is the number of colored points in the three-dimensional color point cloud data P, i is the serial number of the colored points in the three-dimensional color point cloud data P, 3D color point cloud data the colored points in the for colored dots coordinate of, for colored dots s color, 3D...

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Abstract

The invention belongs to the technical field of three-dimensional point cloud data processing and three-dimensional scene reconstruction, A multi-channel three-dimensional color point cloud registration method based on geometry comprises the following steps: (1) acquiring three-dimensional color point cloud data, (2) extracting point cloud data, (3) performing point cloud shape classification, (4)performing point data registration, (5) linear point data registration, (6) performing planar point data registration, (7) performing point cloud data registration, and (8) performing three-dimensional color point cloud data registration. As that covariance matrix is constructed, the geometrical features of three-dimensional point cloud data are calculated accurately, extracting point points frompoint cloud data, Linear points and planar points are three kinds of feature point sets, and the three kinds of feature point sets are used to complete the registration of three-dimensional color point cloud, thus effectively solving the problem that the registration time is too long due to the large amount of data of three-dimensional color point cloud, and greatly improving the registration efficiency and accuracy of three-dimensional color point cloud.

Description

technical field [0001] The invention relates to a geometric shape-based multi-channel three-dimensional color point cloud registration method, belonging to the technical fields of three-dimensional point cloud data processing and three-dimensional scene reconstruction. Background technique [0002] With the development of information science and technology, computer vision, virtual reality, 3D printing, pattern recognition and other fields are making rapid progress, and 3D color point clouds have been more and more widely used. The 3D color point cloud data is formed by the fusion of point cloud data and image data. Among them, the point cloud data is obtained by a laser scanner, which records the geometric position information of the object, and the image data is obtained by a color camera. The color and texture information of the object. Therefore, 3D color point cloud data is a further development of 3D point cloud data, which can describe the real world more three-dimen...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/30
CPCG06T2207/10024G06T2207/10028G06T7/30
Inventor 安毅王玮王晋豫宋天宁
Owner DALIAN UNIV OF TECH
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