Point cloud registration reliability detection method and apparatus, and mobile smart device
A point cloud registration and reliability technology, which is applied in the computer field, can solve the problems of increasing the amount of calculation of the system, the difficulty of taking into account the calculation amount of reliability detection of degraded scenes, and the difficulty of ensuring reliability, etc., so as to reduce redundancy and calculation amount Effect
Pending Publication Date: 2020-12-18
GUANGZHOU SHIYUAN ELECTRONICS CO LTD +1
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[0004] However, if covariance estimation is used for registration, when the current scene is a degraded scene, even if the estimated point cloud registration error is small, the reliability is difficult to be guaranteed; if multi-sensor detection is used, multiple sensors are required The assistance of the system increases the calculation amount of the system
This makes it difficult to take into account the reliability detection for degraded scenarios and the amount of computation in the detection process when detecting the reliability of point cloud registration
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[0060] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.
[0061] In one embodiment of this application, as figure 1 As shown, a method for detecting the reliability of point cloud registration is provided. In this embodiment, the method is applied to a terminal for illustration. The server system is implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:
[0062] Step 110, obtaining the original point cloud data of the surrounding environment of the mobile smart device;
[0063] As an example, the smart mobile device may be a device capable of mobile...
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The invention relates to a point cloud registration reliability detection method and apparatus, and a mobile smart device. The method comprises the steps of obtaining original point cloud data of a surrounding environment of the mobile smart device; determining a plurality of point cloud sets from the original point cloud data, wherein each point cloud set corresponds to one entity object in the surrounding environment of the mobile smart device; performing surface fitting on the plurality of point cloud sets to obtain a plurality of fitting surfaces corresponding to the plurality of entity objects; determining distribution information of a plurality of entity objects in the surrounding environment of the mobile smart device according to the geometrical characteristics of the fitting surfaces; determining a scene type corresponding to the surrounding environment of the mobile smart device according to the distribution information of the plurality of entity objects; and determining a reliability evaluation result of point cloud registration corresponding to the original point cloud data according to the scene type. Reliability analysis is carried out on point cloud registration in the degradation scene based on the original point cloud data, the point cloud registration reliability in the degradation scene can be detected, and the system calculation amount is reduced.
Description
technical field [0001] The present application relates to the field of computer technology, in particular to a method, device, and mobile smart device for point cloud registration reliability detection. Background technique [0002] With the development of science and technology, mobile robots have more and more extensive application requirements in the world due to their advantages of intelligence and autonomy. As one of the core technologies of mobile robots, the rapid recognition and positioning of scenes is an important indicator to measure its intelligence. In the process of positioning and composition, the mobile robot positioning and composition method based on lidar can be used to estimate the trajectory of the robot itself by registering the 2D point cloud or 3D point cloud, and align the points according to the result of point cloud registration. cloud integration. [0003] In the existing technology, the reliability of point cloud registration can be detected, f...
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Login to View More IPC IPC(8): G06T7/33B25J9/16
CPCG06T7/33B25J9/1666G06T2207/10028G06T2207/10044
Inventor 张伟
Owner GUANGZHOU SHIYUAN ELECTRONICS CO LTD