Method for extracting plane from image

Abstract

The invention, which relates to the technical field of image processing, discloses a method for extracting a plane from an image, comprising the following steps: obtaining a depth image and carrying out pixel window traversal; converting two-dimensional image coordinates into three-dimensional world coordinates in traversal to obtain a three-dimensional point set; randomly taking a plurality of points from the three-dimensional point set, and solving a three-dimensional plane equation; obtaining distances between all points in the three-dimensional point set and the solved three-dimensional plane, and determining inner points; screening a plane. According to the method for extracting the three-dimensional plane from the depth image and the color image, information provided by the depth image can be efficiently utilized, the three-dimensional plane in the image can be rapidly and accurately found out, meanwhile, the method has high anti-noise and anti-interference capacity, and good underlying support is provided for application in industries such as three-dimensional surveying and mapping and augmented reality.

Description

technical field [0001] The invention relates to the technical field of image processing, in particular to a method for extracting a plane from an image. Background technique [0002] Image is the basis of human vision, an objective reflection of natural scenery, and an important source for human beings to understand the world and human beings themselves. An image is a similar and vivid description or portrait of an objective object, and is the most commonly used information carrier in human social activities. In other words, an image is a representation of an objective object, which contains information about the object being described. [0003] At present, for the extraction method of 3D plane, due to the complex calculation and low precision of generating the 3D model, and the slow speed of finding the plane, it has not been able to achieve real-time calculation, and there has been no stable and effective solution to this problem. [0004] Chinese patent application CN 1...

AI Technical Summary

Problems solved by technology

[0003] At present, for the extraction method of the 3D plane, due to the complex calculation and low precision of generating the 3D model, and the slow speed of finding the plane, it has not been able to achieve real-time calculation. There has been no stable and effective solution to this problem.

[0004] Chinese patent application CN 101639355 discloses "a method for extracting a three-dimensional plane". This scheme uses the known three-dimensional model and the line segment features in it, and uses the straight line to calculate the plane equation, so that the found plane is accurate and effective, but the scheme does not overcome the It is difficult to obtain complex models. At the same time, the solution based on the straight line has a relatively large amount of calculation and cannot achieve real-time calculation.

[0005] Chinese patent application CN 102945551B discloses "A Method for Extracting 3D Point Cloud Data Plane Based on Graph Theory". This scheme extracts coplanar triangles through the method of nearest neighbor connection triangles on the basis of known 3D point clouds, so that the search The accuracy of the plane is extremely high, but the calculation amount of this scheme is extremely large, and it is almost impossible to achieve real-time processing, and there is no good way to obtain the 3D point cloud

[0006] Chinese patent application CN 105260737A discloses "a method for automatically extracting physical planes from laser scanning data that integrates multi-scale features". , so that the plane accuracy of the extraction is very high, but this solution uses expensive laser scanning equipment and cannot be applied to the consumer market

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