Complex curved surface point cloud strong noise removing method and system

A technology of complex surfaces and point clouds, used in image enhancement, image data processing, instruments, etc.

Active Publication Date: 2020-04-10
INST OF AUTOMATION CHINESE ACAD OF SCI +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0008] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem of removing strong noise in complex continuous curved surface point clouds in a larger range, the present invention provides a method and system for removing strong noise in complex curved surface point clouds

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  • Complex curved surface point cloud strong noise removing method and system
  • Complex curved surface point cloud strong noise removing method and system
  • Complex curved surface point cloud strong noise removing method and system

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Embodiment Construction

[0103] Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention, and are not intended to limit the protection scope of the present invention.

[0104] The purpose of the present invention is to provide a method for removing strong noise from complex curved surface point clouds. By sequentially performing translation transformation, rotation transformation, coordinate change transformation and rotation translation transformation on the processed point cloud, the denoising result point cloud can be obtained. The whole process can be done without Relying on manual setting of parameters, eliminating human interference, improving the accuracy of denoising, so as to effectively remove strong noise in complex continuous surface point clouds in a large range.

[0105] In order to make the abo...

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Abstract

The invention relates to a complex curved surface point cloud strong noise removal method and system. The method comprises the steps: obtaining a to-be-processed point cloud omega which consists of N+ 1 original space points; translation transformation is carried out on each original space point to obtain a translation point cloud omega '; performing rotation transformation on the translation point cloud omega'to obtain a rotation point cloud phi; performing coordinate change transformation on the rotating point cloud phi to obtain a coefficient point cloud; and carrying out rotation translation transformation on the coefficient point cloud to obtain a denoising result point cloud F. According to the method, the denoising result point cloud can be obtained by sequentially carrying out translation transformation, rotation transformation, coordinate change transformation and rotation translation transformation on the processing point cloud, the whole process does not depend on manual parameter setting, human interference is eliminated, denoising precision is improved, and therefore strong noise in the complex continuous curved surface point cloud is effectively removed within a large range.

Description

technical field [0001] The invention relates to the field of computer 3D vision, in particular to a method and system for removing strong noise from complex curved surface point clouds. Background technique [0002] 3D imaging has a wide range of application values, involving industry, civil and so on. [0003] However, there are various noises in the point cloud data acquired by sensing devices such as laser scanners, RGB-D, and structured light vision. Especially for camera-type 3D devices, the point cloud data captured is often mixed with high-intensity noise, which can effectively remove noise. It is a prerequisite for various applications. [0004] Noise removal needs to know the geometric properties of the object or give the necessary reasonable assumptions, usually it is assumed that the object is composed of segmented continuous smooth surface. Based on the above assumptions, the points in the point cloud in the local area are approximately distributed on a plane o...

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Application Information

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IPC IPC(8): G06T5/00
CPCG06T2207/10028G06T5/70Y02T90/00
Inventor 刘希龙秦文翔顾庆毅陈梦娟
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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