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Point cloud data automatic registration method and device based on plane feature

A point cloud data and automatic registration technology, which is applied in image data processing, complex mathematical operations, instruments, etc., can solve the problems of large error in results, poor adaptability, and low degree of automation, so as to achieve strong applicability, ensure accuracy and Efficiency effect

Active Publication Date: 2019-11-12
PLA STRATEGIC SUPPORT FORCE INFORMATION ENG UNIV PLA SSF IEU +1
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a method and device for automatic registration of point cloud data based on plane features, so as to solve the problems of large result error, poor adaptability and low degree of automation in the current point cloud registration method

Method used

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  • Point cloud data automatic registration method and device based on plane feature
  • Point cloud data automatic registration method and device based on plane feature
  • Point cloud data automatic registration method and device based on plane feature

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Embodiment Construction

[0025] The specific implementation manners of the present invention will be further described below in conjunction with the accompanying drawings.

[0026] method embodiment

[0027]The method for automatic registration of point cloud data based on plane features of the present invention first performs plane segmentation on the target point cloud data and the point cloud data to be registered, obtains the target plane slice group and the plane slice group to be registered, and calculates the The attribute information of each planar slice; then according to the attribute information of each planar slice, a set of plane pairs with consistent attributes is obtained from the target planar slice group and the planar slice group to be registered; and then according to the plane slice attribute information, the relationship between planes and the rotation The translational geometric constraint obtains the corresponding plane pair set for coordinate transformation parameter solution f...

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Abstract

The invention relates to a point cloud data automatic registration method and device based on plane features, and belongs to the technical field of three-dimensional laser scanning. The method comprises the following steps: firstly, performing plane segmentation on point cloud data through a plane segmentation algorithm to obtain plane pieces; calculating attribute information of each plane; establishing a corresponding relation between the plane pieces through the attribute information of the plane pieces, the inter-plane mutual relation and the geometric constraint of rotation and translation; and obtaining a corresponding plane pair set for solving the coordinate conversion parameters, solving the coordinate conversion parameters by utilizing the plane parameters, and selecting an optimal solution, namely a final registration result, according to the established point cloud registration overall consistency measurement. The method comprehensively utilizes the plane attribute information, the inter-plane constraints and the spatial geometric constraints to ensure the accuracy and high efficiency of the registration process, does not depend on additional intensity or color information, can effectively perform registration on point cloud data acquired by various platforms, and is high in applicability.

Description

technical field [0001] The invention relates to a method and device for automatic registration of point cloud data based on plane features, and belongs to the technical field of three-dimensional laser scanning. Background technique [0002] 3D point cloud is a discrete sampling of the objective world, consisting of a series of points, which can be obtained by sensors such as laser scanners, LiDAR (Light Detection and Ranging, LiDAR), depth cameras, and stereo vision. In the field of surveying, mapping and remote sensing, 3D laser scanning is known as the "real scene replication" technology, which can quickly and accurately obtain massive point cloud data of the target, so it has received great attention. Due to the limited effective range and field of view of measuring instruments and the influence of occlusion, in order to obtain a complete point cloud of the operation scene, it is often necessary to set up instruments at multiple stations for measurement, and then perform...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/33G06K9/62G06F17/16
CPCG06T7/33G06F17/16G06T2207/10028G06T2207/20021G06F18/2135
Inventor 宗文鹏李明磊李广云王力李帅鑫项学泳党争杨啸天罗豪龙朱华阳柴青梅
Owner PLA STRATEGIC SUPPORT FORCE INFORMATION ENG UNIV PLA SSF IEU
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