Point cloud registration method and device, storage medium and electronic equipment
A point cloud registration and point cloud technology, applied in the field of image processing, can solve the problems of interpreting the type of ground objects, lack of semantic texture information, lack of elevation information, etc., to achieve the effect of fast and accurate registration
Active Publication Date: 2021-03-12
BEIHANG UNIV
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Problems solved by technology
In the processing process of the existing technology, it is found that: LiDAR point cloud has the advantages of high data accuracy and high-precision elevation information, but its characteristic information is not obvious, and the topological relationship between points is not fully preserved, and it cannot be directly obtained from point Interpretation of ground object types on cloud data lacks semantic texture information; on the other hand, high-resolution UAV optical image data has rich spectral and texture information, continuous features, and clear semantic information of ground objects, but lacks elevation information. Applications limited by the limitations of 2D data cannot be more fully exploited
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[0034] In order to make the objects, technical solutions and advantages of the present application, the following will be further described in connection with the accompanying drawings.
[0035] The following description is designed with the drawings, unless otherwise indicated, the same figures in the different figures represent the same or similar elements. The embodiment described in the exemplary embodiments described below does not represent all embodiments consistent with the present application. Instead, they are only examples of devices and methods of the present invention as detailed in the appended claims.
[0036] In the description of the present application, it is to be understood that the terms "first", "second", etc. are only used to describe purposes, and cannot be understood as instructions or implies relative importance. The specific meanings of the above terms in the present application can be understood in terms of one of ordinary skill in the art. "And / or" d...
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The invention discloses a point cloud registration method and device, a storage medium and electronic equipment, and belongs to the technical field of image processing. The point cloud registration method comprises the following steps: acquiring no-load laser scanning ALS point cloud and oblique photography point cloud corresponding to a target area, performing plane extraction on the ALS point cloud to obtain n first plane objects, and performing plane extraction on the oblique photography point cloud to obtain m second plane objects, and carrying out registration processing on the n first plane objects and the m second plane objects to obtain k matching plane object groups, and determining space transformation information according to a corresponding relationship between the first planeobjects and the second plane objects in each matching plane object group. Therefore, by proposing or improving the existing registration algorithm, the rapid and accurate registration between the ALSpoint cloud and the oblique photography point cloud is achieved, the registration accuracy is improved, and the calculation complexity is reduced.
Description
Technical field [0001] The present invention relates to the field of image processing, and more particularly to a point cloud registration method, a device, a storage medium, and an electronic device. Background technique [0002] Light Detection and Ranging, Lidar is a sensor developed by the 1990s, Lidar directly acquires Digital Surface Model, DSM, stored in the form of a cloud . Point cloud data is a collection of order or disorderly three-dimensional points, one of the most important forms of three-dimensional model. As an important representative of the three-dimensional model, point cloud data has been widely used in many areas of construction, agriculture, forestry, surveying, robotics and automatic driving. On the other hand, as the most common visible light remote sensing of traditional remote sensing applications, with the maturity of SFM (Structure from Motion, tilt photography, etc., it also has more extensive applications on emerging drone platforms - Including the ...
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IPC IPC(8): G06T7/33G06T7/10G06T5/50G06K9/62
CPCG06T7/33G06T7/10G06T5/50G06T2207/10028G06T2207/20221G06F18/23
Inventor 谭玉敏李云新施严哲
Owner BEIHANG UNIV