Ship pose estimation method based on three-dimensional point cloud features
A pose estimation and 3D point cloud technology, applied in the field of signal processing, can solve the problems of inability to provide pose estimation, long running time, difficult operation, etc., and achieve the effects of shortening running time, improving computing speed, and saving storage space
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[0057] The present invention will be further described in detail below with reference to the accompanying drawings.
[0058] Combine Figure 1 to 6 , Pose estimation process of a method for three-dimensional point cloud of a ship by the present invention as shown in FIG. This patent by first obtaining the target vessel from six directions 3D point cloud data, obtaining the target vessel using splicing point cloud complete library. Complete point cloud obtained using the calculated step to get ISS3D feature points and feature histogram, the goal of building the ship's point cloud template library. Calculating a target ship be registered point cloud ISS3D feature points and feature histogram using SAC-IA point cloud registration algorithm, characterized by histogram feature point cloud template library to be treated with the point cloud database match point, to obtain an initial coordinate transformation matrix feature point cloud points template library and the corresponding feature...
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