A Regular 3D Color Point Cloud Registration Method Based on Multimodal Features

Abstract

The present invention relates to the technical field of 3D point cloud data processing and 3D scene reconstruction. A regular 3D color point cloud registration method based on multimodal features comprises the following steps: (1) acquiring 3D color point cloud data, (2) extracting Image data, (3) image feature point extraction, (4) image feature point matching, (5) point cloud data extraction, (6) point cloud feature point extraction, (7) point cloud feature point matching, (8) three-dimensional color Coarse registration of point cloud, (9) fine registration of 3D color point cloud. The present invention has the following advantages: First, the present invention utilizes two modal information of point cloud and image to extract multi-modal features, construct multi-modal matching point pairs, and give full play to the multi-modal advantages of 3D color point cloud; Yes, the present invention first uses multi-modal matching point pairs for rough registration, gives a more accurate matching initial value, and applies it to fine registration, which not only reduces the registration time, but also improves the registration accuracy.

Description

technical field [0001] The invention relates to a regular three-dimensional color point cloud registration method based on multimodal features, and belongs 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-di...

AI Technical Summary

Problems solved by technology

This method makes full use of the multimodal information of the 3D color point cloud - image information and point cloud information, and calculates the multimodal features of the 3D color point cloud - image features and point cloud features, providing an accurate registration The initial value reduces the matching times of the ICP algorithm, improves the registration accuracy and registration speed, and better solves the problems of difficult initial value setting and low registration efficiency of traditional registration methods, and fully utilizes the 3D color point cloud. Multimodal Advantage

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