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A method and apparatus for aligning three-dimensional point clouds

A 3D point cloud and point pairing technology, applied in the field of data processing, can solve problems such as inaccurate relative poses, and achieve the effect of improving accuracy

Active Publication Date: 2019-03-26
HUAWEI TECH CO LTD +1
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Problems solved by technology

[0003] At present, when the ICP algorithm is applied to the point cloud alignment scene, when determining the relative pose, the same distance evaluation standard is used for the offset of the target point cloud in all directions, which will lead to the relative distance determined during the point cloud alignment process. Inaccurate pose

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Embodiment Construction

[0034] In recent years, the ICP algorithm has been widely used in real-time simultaneous localization and mapping (SLAM) applications such as real-time 3D reconstruction, augmented reality, mixed reality and robotics due to its simple, fast and effective characteristics. Applications. Taking the application of ICP algorithm in the real-time 3D reconstruction application scene as an example to illustrate the application scene of ICP algorithm: the user uses the depth camera to scan the target scene to be reconstructed, and at different times t 1 , t 2 , t 3 , the cameras are in different poses (respectively denoted as T1, T2, T3), and facing the target scene at different angles, so the depth cameras capture three depth images at different moments, such as figure 1 shown; then, the depth image is back-projected to the three-dimensional space to obtain the three-dimensional point cloud of the target scene at different angles of view; then, the point cloud at different times is ...

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Abstract

Embodiments of the present application disclose a method and apparatus for aligning three-dimensional point clouds, which relate to the technical field of data processing and contribute to improving the accuracy of relative pose determination in a point cloud alignment process. The method comprises the following steps of: acquiring at least two point pairs, wherein the point pairs are composed ofa first point in a target point cloud and a second point corresponding to the first point in a source point cloud; According to the weighted distance from the surface of at least two point pairs, determining the relative pose between the target point cloud and the source point cloud, A weighted distance from the surface is obtained by accumulating the product of the distance from the surface of each of the at least two point pairs and the weight corresponding to each point pair, a projection length of a distance between a first point and a second point on a target normal of a tangent plane having a second point as a tangent point, the target normal and the tangent plane intersecting the second point, the weights being used to characterize the correlation of a corresponding point of the first point in a depth image of the target point cloud with a point within a preset range of the periphery of the corresponding point; Adjust the posture of the target point cloud according to the relative posture.

Description

technical field [0001] The present application relates to the technical field of data processing, in particular to a method and device for aligning three-dimensional point clouds. Background technique [0002] The iterative closest point (ICP) algorithm is one of the most popular algorithms for local point cloud alignment. When the ICP algorithm is applied to the point cloud alignment scene, the specific process is as follows: the target point cloud (such as the point cloud corresponding to the current frame depth image) and the source point cloud (such as the point cloud corresponding to the previous frame depth image of the current frame) are determined through rapid iteration. ), and then adjust the pose of the target point cloud according to the relative pose, so that the target point cloud is aligned with the source point cloud. [0003] At present, when the ICP algorithm is applied to the point cloud alignment scene, when determining the relative pose, the same distan...

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Application Information

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IPC IPC(8): G06T7/32
CPCG06T2207/10012G06T7/32
Inventor 任博王亚慧张德军
Owner HUAWEI TECH CO LTD
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