Point cloud registration method based on shape constraint

A point cloud registration and point cloud technology, applied in the field of three-dimensional reconstruction, can solve the problems of inaccurate, lack, and no matching of corresponding points, and achieve the effects of strong feature dependence, accurate transformation matrix, and poor algorithm robustness.
CN110276790AInactive Publication Date: 2019-09-24易思维(杭州)科技有限公司
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
易思维(杭州)科技有限公司
Publication Date
2019-09-24
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a point cloud registration method based on shape constraint, which comprises the following steps of: loading a source point cloud and a template point cloud, selecting a to-be-matched point cloud from the source point cloud, and obtaining a feature descriptor of each point; randomly selecting a plurality of initial points from the to-be-matched point cloud, carrying out repeating for multiple times, and determining a group of initial points with the maximum graph area as a to-be-tested point set; selecting a to-be-matched point from the to-be-measured point set, and calculating distances and included angles between other points in the to-be-measured point set and the to-be-matched point; traversing each point in the template point cloud, searching a reference point, and calculating distances and included angles between other points in the template point cloud and the reference point; screening a pre-selected point set; solving a target point from each pre-selected point set; calculating a transformation matrix between the point set to be measured and the target point set, carrying out coordinate transformation, calculating distance deviation between the matching points, continuously reducing the distance deviation through iteration, and continuously carrying out fine registration on the finally obtained reference transformation matrix by utilizing the final transformation matrix. The constraint on point selection is increased, and the robustness is high.
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Description

technical field

[0001] The invention relates to the technical field of three-dimensional reconstruction, in particular to a point cloud registration method based on shape constraints. Background technique

[0002] 3D point cloud registration technology is an important part of the 3D reconstruction process, and it has a wide range of application prospects in various fields. For example, in the industrial field, it can be used to detect whether there are defects in parts or realize robot grasping work; In the medical industry, it can be used to simulate human organs and find out where the patient's lesions are; in the field of cultural relic restoration, it can be used to restore the full-view point cloud of cultural relics.

[0003] In the actual data acquisition process, when using a 3D scanning device to scan the measured object for a single scan, the complete geometric information of the object is often not obtained. Due to the influence of factors such as scanning angle ...

Claims

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