3D point cloud data registration method, device, device and readable storage medium

Abstract

The embodiment of the invention discloses a three-dimensional point cloud data registration method, a device, a device and a computer-readable storage medium. The method includes using RGB-D camera collect a plurality of images and correspond point cloud data from a plurality of angles simultaneously including an object to be measured and a manual identification map, and that point cloud data of the plurality of frames can be splice into a panorama of the object to be measured; According to RGB-D camera internal parameter matrix and distortion coefficient, and pixel coordinate value of presetcharacteristic point of artificial identification map in each image, calculate and obtaining rotation matrix and translation matrix of camera corresponding to each image; and D camera internal parameter matrix and distortion coefficient and pixel coordinate value of preset characteristic point of artificial identification map in each image; computing The point cloud data and the corresponding rotation matrix and translation matrix to obtain the point cloud data in the same coordinate system, and completing the registration of point cloud data. The application not only does not require the point cloud data set between different image frames, but also improves the registration efficiency of the three-dimensional point cloud data and reduces the registration error of the three-dimensional point cloud data.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of digital design and manufacturing, and in particular, relate to a method, device, equipment, and computer-readable storage medium for three-dimensional point cloud data registration. Background technique [0002] 3D point cloud data is widely used in various fields, such as the production of industrial parts, product quality control, biomedicine, cultural relics, building protection, etc. In the process of acquiring 3D reconstruction data, due to the limited range of one-time acquisition by the data acquisition device, it is necessary to acquire data from multiple angles or multiple devices simultaneously acquire data from different angles in order to obtain complete information on the surface of the 3D object. Since these data are not collected by the same device at the same time, it is necessary to use 3D point cloud data registration technology to register multiple point clouds in ...

AI Technical Summary

Problems solved by technology

[0004]However, the ICP algorithm requires that one data point set must be a subset of another point set. However, in the actual data scanning process, the point cloud data are only part of each other Overlapping, it is difficult for one point set to completely cover another point set; in addition, the first step of the ICP algorithm iteration requires determining the initial pose, which has a great impact on the final registration accuracy, if the initial pose There is a large difference between the pose and the real situation, and the solution of the ICP algorithm is likely to fall into a local optimum, so there are certain requirements for the error of the initial pose; finally, in the ICP algorithm, all points of a point set are used to search for point pairs to find point pairs with the same name. Time-consuming, inefficient, and even introduce wrong point pairs

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