Point cloud segmentation method and device, computer readable storage medium and terminal

Abstract

The invention belongs to the technical field of point cloud data segmentation, and particularly relates to a point cloud segmentation method and device, a computer readable storage medium and a terminal. The invention discloses a point cloud segmentation method. The method comprises the following steps: carrying out filtering processing on collected point cloud data, filtering the point cloud datato obtain filtered point cloud data; the discrete point cloud after the simplification processing is obtained; calculating curvatures of all discrete point clouds; acquiring a minimum value in the curvature; taking the discrete point cloud corresponding to the minimum value as the current seed point cloud; and by taking a preset radius as a size, obtaining all adjacent point clouds in a preset radius circle neighborhood of the current seed point cloud, and calculating a normal included angle between the current seed point cloud and each adjacent point cloud, a smooth threshold corresponding to the normal included angle, curvature values of all adjacent point clouds and a curvature threshold corresponding to the curvature values. According to the method, some outliers far away from the main body can be effectively removed, and the data processing speed is greatly increased on the premise that point cloud data characteristics are not affected.

Description

technical field [0001] The invention belongs to the technical field of point cloud data segmentation, and in particular relates to a point cloud segmentation method, device, computer-readable storage medium and terminal. Background technique [0002] Point cloud segmentation is to divide the point cloud according to the characteristics of space, geometry and texture, so that the point cloud in the same division has similar characteristics. The effective segmentation of point cloud is often the premise of many applications, such as reverse work, the CAD field for parts Different scanned surfaces can be segmented, and then surface reconstruction for cavity repair, feature description and extraction can be better carried out, and then retrieval based on 3D content, combination reuse, etc. can be carried out. [0003] At present, the commonly used point cloud segmentation methods include: European clustering, region growing, minimum segmentation and other methods, among which re...

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Problems solved by technology

[0005] In view of the above-mentioned shortcomings of the prior art, the object of the present invention is to provide a point cloud segmentation method, device, computer-readable storage medium and ...

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