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Registration method and system for point clouds

A point cloud and point set technology, applied in the field of 3D reconstruction, can solve problems such as low efficiency, long time consumption, and long calculation time, and achieve the effects of high efficiency, accelerated extraction process, and short calculation time

Active Publication Date: 2020-11-10
ZHEJIANG SMART VIDEO SECURITY INNOVATION CENT CO LTD
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Problems solved by technology

[0004] However, although existing point cloud registration methods can achieve high registration accuracy, their computational complexity often drops to the worst case O(n 3 ), and the calculation time is long (the higher the power, the higher the complexity and the longer the consumption time), and the efficiency is low

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  • Registration method and system for point clouds
  • Registration method and system for point clouds

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Embodiment Construction

[0060]Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0061] In the first aspect, according to the embodiment of the present application, a registration method for point clouds is proposed, such as figure 1 shown, including:

[0062] S101, respectively performing edge extraction and downsampling on the first source point cloud and the first target point cloud to obtain a second source point cloud and a second target point cloud;

[0063] S102, randomly extracting a first set of coplan...

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Abstract

The invention discloses a registration method and system for point clouds, and the method comprises the steps: carrying out edge extraction and downsampling of a first source point cloud and a first target point cloud to acquire a second source point cloud and a second target point cloud; randomly extracting a first coplanar point set from the second source point cloud, and determining a second coplanar point set in the second target point cloud; determining candidate rigid body transformation parameters according to a first coplanar point set and a second coplanar point set, converting the second source point cloud to acquire a third source point cloud; calculating the final overlapping degree of the third source point cloud and the second target point cloud; and determining a target rigid body transformation parameter from the candidate rigid body transformation parameters according to the final overlapping degree, and performing rigid body transformation of the first source point cloud and the second source point cloud. The edges of the first source point cloud and the first target point cloud are extracted and then downsampled to obtain the second source point cloud and the second target point cloud, so that the registration precision can be improved; by automatically modifying the initial overlapping rate value, the algorithm time complexity is reduced, the extraction process of the point set is accelerated, and the efficiency is high.

Description

technical field [0001] The present application relates to the technical field of three-dimensional reconstruction, and in particular to a registration method and system for point clouds. Background technique [0002] Recently, the demand for three-dimensional measurement and reconstruction has been increasing. The importance of point cloud registration as the basic technology of 3D measurement and reconstruction technology is self-evident. Point cloud registration is to match the point cloud scanned at any initial position to the corresponding area, and estimate the corresponding corresponding area of ​​the best registration from it. The process of rigidly transforming parameters. [0003] Typically, such transformation parameters are estimated by a two-step procedure: initial registration and fine registration. The initial registration calculation will calculate the rough and accurate attitude relationship between the two point clouds, so as to avoid the subsequent precis...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/30G06T7/13
CPCG06T2207/10012G06T7/13G06T7/30
Inventor 林欢陈静齐海兵任鹏张峰
Owner ZHEJIANG SMART VIDEO SECURITY INNOVATION CENT CO LTD
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