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Feature matching method based on point cloud segmentation

A feature matching and point feature technology, applied in the field of feature matching based on point cloud segmentation, can solve the problem of large error in matching results, achieve the effect of simple algorithm rules, reduce computing resources, and improve work efficiency

Active Publication Date: 2019-07-12
BEIJING ZHIXINGZHE TECH CO LTD
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Problems solved by technology

[0006] The purpose of the embodiments of the present invention is to provide a feature matching method based on point cloud segmentation to solve the problem of large matching result errors in the prior art

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  • Feature matching method based on point cloud segmentation
  • Feature matching method based on point cloud segmentation

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Embodiment Construction

[0036] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

[0037] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0038] figure 1 It is a schematic flow chart of the feature matching method based on point cloud segmentation provided by Embodiment 1 of the present invention. The method is applied in the field of automatic driving, and the execution body of the method is the computing pr...

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Abstract

The invention provides a feature matching method based on point cloud segmentation. The method comprises the steps of processing an original point cloud into a distance image and dividing the distanceimage into a plurality of sub-images; setting a ground label for the point cloud belonging to the ground; based on the distance image, clustering the rest point clouds to generate multi-cluster pointclouds; when the number of the point clouds in each cluster of point clouds is greater than a preset first threshold, adding a unique label to the cluster of point clouds; calculating the curvature of the point cloud provided with the effective label in each sub-image; determining the points as plane points and edge point candidate points; calculating the similarity of the planar point feature matching pairs to obtain a first group of state quantities in pose transformation; calculating the similarity of the edge point feature matching pairs to obtain a second group of state quantities in pose transformation; and matching the planar point feature points and the edge point feature points in the current frame with a local feature point cloud map formed by the previous N frames, and updatingthe first group of state quantities and the second group of state quantities. Therefore, the calculation efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of data processing, in particular to a feature matching method based on point cloud segmentation. Background technique [0002] With the continuous improvement of the level of science and technology in recent years, the rapid development of artificial intelligence has been widely used in various fields. Among them, since autonomous vehicles can efficiently utilize traffic resources, alleviate traffic congestion, and reduce carbon emissions, autonomous driving technology has increasingly become the focus of attention. However, autonomous driving for passenger vehicles is still far from commercialization. The small low-speed sanitation sweeper in a limited environment provides a specific application scenario for the implementation of autonomous driving technology. On the other hand, due to the aging of the population, the cost of domestic labor is increasing year by year, and heavy repetitive manual labor inc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/62G06T7/12
CPCG06T7/12G06T2207/10028G06F18/22
Inventor 王琪张国龙张放李晓飞张德兆王肖霍舒豪
Owner BEIJING ZHIXINGZHE TECH CO LTD
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