Point cloud registration method and device based on multi-feature fusion and storage medium

A multi-feature fusion and point cloud registration technology, which is applied in image data processing, instruments, character and pattern recognition, etc., can solve problems such as poor robustness, affecting registration accuracy, and inability to fully characterize feature point attributes. The effect of reducing mismatching, improving expressiveness, and improving registration accuracy

Active Publication Date: 2020-06-26
广州智能装备研究院有限公司
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Problems solved by technology

[0005] The above-mentioned technology has a single feature extraction method for point clouds, uses global features as the description of feature points, has poor robustness, insufficient descrip

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  • Point cloud registration method and device based on multi-feature fusion and storage medium
  • Point cloud registration method and device based on multi-feature fusion and storage medium

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Embodiment Construction

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0032] Such as figure 1 As shown, a method for point cloud registration based on multi-feature fusion provided by an embodiment of the present invention includes:

[0033] Step S101: extract some source point cloud feature points and some target point cloud feature points from source point cloud and target point cloud respectively;

[0034] Step S102: extract the local depth feature, normal angle feature, point cloud density feature and local color feature of each...

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Abstract

The invention discloses a point cloud registration method and device based on multi-feature fusion and a storage medium. The method comprises the following steps: respectively extracting a plurality of source point cloud feature points and a plurality of target point cloud feature points from a source point cloud and a target point cloud; extracting a local depth feature, a normal angle feature, apoint cloud density feature and a local color feature of each feature point, and then generating a feature descriptor corresponding to each feature point according to the local depth feature, the normal angle feature, the point cloud density feature and the local color feature of each feature point, wherein the feature points comprise source point cloud feature points and target point cloud feature points; pairing the source point cloud feature points with the target point cloud feature points according to the feature descriptors to generate feature point pairs; and generating a transformation matrix according to the feature point pairs, transforming the source point cloud according to the transformation matrix to generate a second source point cloud, and performing fine registration on the second source point cloud and the target point cloud. By implementing the embodiment of the invention, the expression capability of the feature descriptor can be improved, so that the overall registration precision is improved.

Description

technical field [0001] The present invention relates to the technical field of three-dimensional point cloud registration, in particular to a method, device and computer-readable storage medium for point cloud registration based on multi-feature fusion. Background technique [0002] The use of 3D scanning equipment to obtain object surface data is a hot issue that has developed rapidly in recent years. The most important technology is the processing of point cloud data. Due to the limitation of the scanning range of the equipment itself, in order to obtain high-precision omnidirectional point cloud data, It is necessary to register the point cloud data obtained from different perspectives. Convert the multi-view acquisition data into the same coordinate system to obtain the complete surface information of the object, and then realize the surface reconstruction of the object and target recognition and other applications. [0003] The iterative closest point algorithm and its...

Claims

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Application Information

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IPC IPC(8): G06T7/33G06K9/62
CPCG06T7/33G06T2207/10028G06F18/253
Inventor 赵常均林贞琼李博
Owner 广州智能装备研究院有限公司
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