A 3D rock mass point cloud registration method based on plane polygon matching

A point cloud registration and polygon technology, which is applied in image data processing, instruments, calculations, etc., can solve the problems of rock mass surface irregularity, roughness, and different scales, and achieve the effect of improving accuracy

Inactive Publication Date: 2019-04-30
UNIVERSITY OF CHINESE ACADEMY OF SCIENCES
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Problems solved by technology

Moreover, the surface of the rock mass is irregular, rough and of different scales. It is difficult for traditional

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  • A 3D rock mass point cloud registration method based on plane polygon matching
  • A 3D rock mass point cloud registration method based on plane polygon matching
  • A 3D rock mass point cloud registration method based on plane polygon matching

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Embodiment Construction

[0035] The invention is mainly based on computer vision and point cloud processing technology, and proposes a 3D rock mass point cloud registration method based on plane polygon matching. The invention uses the plane extraction algorithm to extract the plane features in the rock mass, uses polygon matching to find the point-pair matching relationship, improves the efficiency and accuracy of registration, and enables the algorithm to obtain accurate point clouds in complex scenes such as rock mass Registration results.

[0036] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The method provided by the present invention can use computer software technology to realize the process, and the overall technical flow chart can be found in figure 1 , including the following steps:

[0037] Step 1. In order to a...

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Abstract

The invention relates to a 3D rock mass point cloud registration method based on plane polygon matching. The method mainly comprises three stages (1), plane detection based on voxel multi-time regiongrowth; (2), PCA-based polygon matching; and (3), point cloud registration based on matching point pairs. The method comprises the following steps: firstly, dividing initial rock mass point cloud intovoxel grids, and extracting reliable growth units in each voxel by utilizing an area growth algorithm; Performing secondary growth based on the growth unit to obtain an initial plane set; for the initial plane set, remaining point clouds in neighborhoods around each plane grow, and a plane set in the rock mass point clouds is extracted; Secondly, extracting a polygon boundary of the plane point cloud, projecting a polygon to a two-dimensional plane by utilizing PCA, and carrying out polygon matching; the rock mass point cloud registration method based on the ICP algorithm is suitable for theregistration process of large-scene rock laser scanning point cloud, and the rock mass point cloud registration can be efficiently and accurately achieved.

Description

technical field [0001] The invention belongs to the intersecting field of computer vision and three-dimensional point cloud data processing, and relates to technologies such as point cloud processing and three-dimensional reconstruction of rock mass, and particularly relates to a registration method of 3D rock mass point cloud. Background technique [0002] Laser scanners can obtain 3D coordinate information of target objects with high resolution and high accuracy, and are widely used in 3D reconstruction, 3D target recognition, virtual reality and other fields. However, when acquiring a large scene target, it is often difficult to obtain the whole picture of the target in one scan, and multi-station scanning is required. The goal of point cloud registration is to unify the multi-station data acquired by the laser scanner into the same coordinate system. As the initial link of point cloud processing, point cloud registration is a hot research topic at present. [0003] At p...

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Application Information

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IPC IPC(8): G06T7/33
CPCG06T2207/10028G06T7/33
Inventor 胡亮肖俊王颖
Owner UNIVERSITY OF CHINESE ACADEMY OF SCIENCES
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