High-precision rapid point cloud generation method based on direction template
A high-precision, template technology, applied in the field of point cloud generation, can solve the problems of slow running speed of embedded platforms, unfavorable large-scale production, and large amount of calculation, so as to prevent loss of details, small noise interference, and strong anti-interference ability Effect
Inactive Publication Date: 2019-11-12
苏州全视智能光电有限公司
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[0003] The traditional point cloud generation method based on the direction template, because it needs to perform convolution operation on the entire image, often causes a huge amount of calculation, which leads to the problem of slow operation on the embedded platform, which is not conducive to mass production
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[0043] The technical solution of the present invention will be described in further non-limiting detail below in conjunction with preferred embodiments.
[0044] The method corresponding to a kind of preferred embodiment of the present invention based on direction template high-accuracy fast generation point cloud, it comprises the following steps:
[0045] Step 1: Determine the laser line area by the upper and lower edge method
[0046] Set the grayscale threshold of the laser line to I 0 , the actual grayscale of the image is I c , find the I in a column of the image c >I 0 The minimum and maximum row coordinates of , use the minimum and maximum row coordinates to indicate the edge of the laser line area in the vertical column, and scan column by column to obtain the entire laser line area A 0 ;
[0047] Step 2: In the laser line area A 0 The direction template is used to perform convolution to obtain the initial positioning of the point cloud;
[0048] (2-1) Use the ...
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The invention discloses a high-precision rapid point cloud generation method based on a direction template. The method is characterized by comprising the following steps; step 1, determining a laser line area through upper and lower edge methods, setting the gray threshold value of the laser line as I0 and the actual gray of the image as Ic, finding out the minimum row coordinate and the maximum row coordinate of which Ic is greater than I0 in a vertical column of the image, representing the edge of the laser line area in the vertical column by using the minimum row coordinate and the maximumrow coordinate, and scanning column by column to obtain the whole laser line area A0; step 2, performing convolution by using a direction template in the laser ray area A0 to obtain point cloud initial positioning; and step 3, the light intensity distribution of the laser rays is in Gaussian distribution, performing Gaussian fitting on the gray value of the center of the laser rays, and obtaininghigh-precision point cloud data. According to the high-precision rapid point cloud generation method based on the direction template, the calculation amount of convolution of the direction template can be effectively reduced, and large-scale production is facilitated.
Description
technical field [0001] The invention relates to the technical field of point cloud generation, in particular to a method for rapidly generating point clouds with high precision based on a direction template. Background technique [0002] The point cloud is a collection of point data on the product appearance surface obtained by measuring instruments in reverse engineering. When a beam of laser light hits the surface of an object, the reflected laser light will carry information such as azimuth and distance. If the laser beam is scanned according to a certain trajectory, the reflected laser point information will be recorded while scanning. Since the scanning is extremely fine, a large number of laser points can be obtained, so a laser point cloud can be generated. [0003] The traditional method of point cloud generation based on orientation templates often results in a huge amount of computation due to the need to perform convolution operations on the entire image, resulti...
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IPC IPC(8): G06T7/70G01S17/89
CPCG06T7/70G01S17/89
Inventor 张永泉郝盼
Owner 苏州全视智能光电有限公司