A live-line work scene electric power part three-dimensional reconstruction method based on point cloud

A live-work and 3D reconstruction technology, which is applied in the field of 3D reconstruction of live-work scenes, can solve problems such as difficulty in obtaining registration effects, and achieve the effect of avoiding low coincidence rate and improving efficiency

Inactive Publication Date: 2019-06-25
NANJING UNIV OF SCI & TECH +1
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Problems solved by technology

Since the ICP algorithm relies on the search and matching of the source point set and the nearest point set, it usually requi...

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  • A live-line work scene electric power part three-dimensional reconstruction method based on point cloud
  • A live-line work scene electric power part three-dimensional reconstruction method based on point cloud
  • A live-line work scene electric power part three-dimensional reconstruction method based on point cloud

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Embodiment Construction

[0054] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0055] refer to figure 1 and figure 2 , the present invention discloses a method for three-dimensional reconstruction of power components in a live working scene based on point clouds, comprising the following steps:

[0056] S10, establishing a model library of electric components in a live working scene in an offline environment;

[0057] Specifically, the depth information and color information of the power components are obtained through th...

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Abstract

The invention discloses a live-line work scene electric power part three-dimensional reconstruction method based on point cloud. The method comprises the following steps: establishing a live-line workscene electric power part model library in an offline environment; acquiring point cloud data of a live working scene from multiple angles through point cloud data acquisition equipment, and carryingout pre-processing operation on the point cloud data through filtering; Registering the preprocessed point cloud data through a coarse registration and accurate registration method; And segmenting the point cloud data after registration by using a segmentation algorithm to obtain a point cloud cluster of a single target object, and finally completing the recognition of the three-dimensional pointcloud. According to the invention, point cloud registration is carried out after filtering processing is carried out on point cloud data obtained from different angles; Three-dimensional modeling ofelectric power operation parts can be achieved after point cloud splicing, segmentation and other operations, discrete points and noise points of point cloud data are removed through filtering, and finally the obtained point cloud data are processed and finally three-dimensional reconstruction of an electric power operation scene is completed.

Description

technical field [0001] The invention belongs to the field of environment perception of live working robots, and in particular relates to a method for three-dimensional reconstruction of live working scenes based on point clouds. Background technique [0002] With the development of computer technology and three-dimensional measurement technology, the three-dimensional reconstruction technology of real objects is widely used in various fields. When using a three-dimensional measuring device to measure an object, due to the occlusion of the measured object itself and the environment and the limitation of the measurement range, it is necessary to perform multiple measurements on the surface of the object to obtain complete surface data. Among them, the 3D point cloud registration technology has become an important step to solve the 3D measurement data stitching and complete reconstruction of the measured object. [0003] At present, the most widely used point cloud registratio...

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Application Information

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IPC IPC(8): G06T7/33G06T7/50G06T17/00
Inventor 郭健杨光韩若冰郭毓郝爱民梁晓辉杨文军
Owner NANJING UNIV OF SCI & TECH
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