A method, system and device for extracting indoor planar elements based on 3D point cloud
A technology of 3D point cloud and planar elements, applied in image data processing, instruments, etc., can solve the problems of missing data, low data accuracy, and low accuracy of planar elements, and achieve the effect of improving accuracy and enhancing robustness
Active Publication Date: 2021-02-09
SHENZHEN UNIV
View PDF3 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0005] In view of the deficiencies in the above-mentioned prior art, the object of the present invention is to provide a method, system and device for extracting indoor planar elements based on 3D point cloud, so as to overcome the lack of data in the prior art due to the occlusion of the collected 3D data Or the data precision is low, resulting in the defects of low accuracy of the extracted plane elements
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0046] In order to make the object, technical solution and advantages of the present invention more clear and definite, the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0047] Those skilled in the art will understand that the singular forms "a", "an", "said" and "the" used herein may also include plural forms unless otherwise stated. It should be further understood that the word "comprising" used in the description of the present invention refers to the presence of said features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, Integers, steps, operations, elements, components, and / or groups thereof. It will be understood that when an element is referred to as being "c...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention provides an indoor plane element extraction method, system and device based on three-dimensional point cloud. The method comprises the steps of obtaining three-dimensional point cloud data of a target indoor area; determining a distance threshold according to the three-dimensional point cloud data, and segmenting the three-dimensional point cloud data by using the distance thresholdto obtain point cloud plane data; and obtaining parameter information of each point cloud plane according to the point cloud plane data, and segmenting plane elements by utilizing the parameter information of each point cloud plane and bounding box information of each point cloud plane. The method provided by the embodiment of the invention aims at solving the problem of inconsistent density of each region of indoor complex point cloud data; firstly, the average density of point cloud is calculated; then, the point cloud is segmented twice; accurate segmentation and extraction of the indoor plane elements are realized by utilizing bounding box information and parameterized information of the indoor plane elements, so that the robustness of extraction of the multi-type three-dimensional point cloud plane elements is effectively enhanced, the precision of extraction of the plane elements is improved, and an important data basis is provided for later indoor three-dimensional semantic reconstruction.
Description
technical field [0001] The present invention relates to the technical field of indoor three-dimensional semantic reconstruction, in particular to a method, system and equipment for extracting indoor planar elements based on three-dimensional point clouds. Background technique [0002] Indoor 3D semantic model is an important data basis for robots and various indoor applications. With the continuous development of indoor 3D point cloud data acquisition technology, research on indoor spatial information extraction based on 3D point cloud is also increasing. Among them, the indoor spatial plane elements Extraction and optimization modeling is the structural basis for building an indoor semantic model, including floor, ceiling, wall elements, door elements, window elements, etc. [0003] Indoor Plane Element Extraction in the Existing Technology In complex indoor scenes, the data of 3D data obtained by portable distance sensor scanning is likely to cause data loss due to occlusi...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): G06T19/20
CPCG06T19/20
Inventor 王伟玺汤圣君李晓明宋锦阳郭仁忠李游谢林甫
Owner SHENZHEN UNIV