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Improved ICP point cloud rapid splicing method and device, electronic equipment and storage medium

A fast splicing and point cloud technology, applied in the field of image recognition, can solve problems such as high requirements for coarse registration iterative input values, no point cloud color information matching, local convergence affecting the iteration effect, etc., to enhance the recognition ability and reduce The effect of optical environment interference, improving iteration accuracy and convergence speed

Inactive Publication Date: 2019-08-27
XIAN UNIV OF POSTS & TELECOMM
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Problems solved by technology

[0004] However, the inventors of the present application found that the ICP algorithm used in the prior art does not involve the matching of point cloud color information, and the iterative input value requirements for rough registration are relatively high
Therefore, the iteration rate is low, and local convergence will occur, which will affect the iteration effect

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  • Improved ICP point cloud rapid splicing method and device, electronic equipment and storage medium
  • Improved ICP point cloud rapid splicing method and device, electronic equipment and storage medium
  • Improved ICP point cloud rapid splicing method and device, electronic equipment and storage medium

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[0046] The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0047] The ICP algorithm adopted in the prior art assumes that two data sets P and Q have been given, and provides the space transformation function of the two point sets so that they can perform space matching, but the space transformation function is an unknown function, and the point set The number of points in the concentration is not necessarily the same. To solve this problem, iterative nearest point method is usually used.

[0048] It is understandable that there are two poin...

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Abstract

The embodiment of the invention provides an improved ICP point cloud rapid splicing method and device, electronic equipment and a storage medium. The method comprises the steps of obtaining data collected by a camera; based on a Kd-Tree space index algorithm, searching the point cloud information data of the neighborhood relation of the data; sampling the color point cloud feature points in the point cloud information data by using random sampling; determining domain points in the point cloud information data by a Kd-Tree domain search method, and describing features of feature points in the domain points; and constructing a constraint function by utilizing an improved ICP algorithm to complete the splicing of the point cloud data. By utilizing the method, the iteration rate can be enhanced, and the problem that the iteration effect is influenced due to local convergence is avoided.

Description

technical field [0001] The present application relates to the technical field of image recognition, and in particular to an improved ICP point cloud fast splicing method device, electronic equipment and a storage medium. Background technique [0002] The optical tracking and positioning system uses graphic recognition and optical technology to obtain large-scale point cloud information in a three-dimensional coordinate space with color and depth data through the construction of multi-sensor cameras and the use of customized servers. The ICP (Iterative Closest Points, Iterative Nearest Points) algorithm is essentially an optimal registration method based on the least squares method. The algorithm repeatedly selects corresponding point pairs and calculates the optimal rigid body transformation until the convergence of correct registration is satisfied. Accuracy requirements. [0003] In the shooting of movies and TV programs, the depth camera with tracking function is mainly ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T3/40G06T7/33G06T17/00
CPCG06T3/4038G06T7/337G06T17/00G06T2207/10028
Inventor 闫兴亚崔晓云
Owner XIAN UNIV OF POSTS & TELECOMM
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