Three-dimensional point cloud registration method in combination with image information
A technology of 3D point cloud and image information, applied in image enhancement, image analysis, image data processing, etc., can solve the problems of low precision, weak robustness, low efficiency, etc., to improve accuracy, reduce search range, reduce interference effect
Pending Publication Date: 2021-01-05
XI AN JIAOTONG UNIV
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Whether it is a method based on two-dimensional images or a method based on geometric features, there are problems of poor robustness and low accuracy, and because the method based on three-dimensional feature points needs to search point by point in the entire point cloud, it will cause inefficiency. And other issues
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[0049] The following will refer to the attached figure 1 to attach Figure 11 Specific embodiments of the present disclosure are described in detail. Although specific 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 to 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.
[0050] It should be noted that certain terms are used in the specification and claims to refer to specific components. Those skilled in the art should understand that they may use different terms to refer to the same component. The specification and claims do not use differences in nouns as a way of distinguishing components, but use differences in functions of components as a criterion for distinguishing. "Includes" o...
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The invention discloses a three-dimensional point cloud registration method in combination with image information. The method comprises the steps of reading a source three-dimensional point cloud, a source two-dimensional image, a target three-dimensional point cloud and a target two-dimensional image; cutting the source two-dimensional image and the target two-dimensional image; detecting featurepoints of the cut source two-dimensional image and the target two-dimensional image and carrying out feature description; performing fuzzy matching on the feature points through brute force matchingto obtain fuzzy matching feature point pairs; screening fuzzy matching feature point pairs to obtain optimal matching feature point pairs; screening optimal matching feature point pairs to obtain effective feature point pairs; selecting the effective feature point pairs by adopting random sampling consistency to obtain steady effective feature point pairs; and enabling the robust effective featurepoint pairs to correspond to the source three-dimensional point cloud and the target three-dimensional point cloud to obtain three-dimensional point cloud point pairs, solving a rotation translationmatrix between the source three-dimensional point cloud and the target three-dimensional point cloud according to the three-dimensional point cloud point pairs, and completing registration of the source three-dimensional point cloud and the target three-dimensional point cloud according to the rotation translation matrix.
Description
technical field [0001] The disclosure belongs to the technical fields of computer vision, image processing, and three-dimensional measurement, and in particular relates to a high-precision point cloud registration method for a three-dimensional scanning system. Background technique [0002] As a current research hotspot, 3D reconstruction has been widely used in various fields such as medical technology, restoration of cultural relics, human-computer interaction, 3D animation, and immersive somatosensory games. The 3D point cloud data registration has always been a research hotspot and difficulty in the process of 3D reconstruction. Limited by the field of view of the 3D scanning system itself, the shape of the scanned object, the scanning range, and occlusion, the scanning process of real objects often needs to be carried out from multiple perspectives. Point cloud registration is the point cloud data obtained from different perspectives. Transform to a unified coordinate ...
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IPC IPC(8): G06T7/33G06K9/62
CPCG06T7/33G06T2207/10028G06F18/22
Inventor 梁晋邬宏陆旺陈仁虹张继耀赫景彬冯超刘世凡
Owner XI AN JIAOTONG UNIV