Method for generating high-precision simulation point cloud model

A point cloud model, high-precision technology, applied in the field of data processing, can solve problems such as large amount of calculation, and achieve the effect of eliminating interference, high precision, and improving accuracy

Pending Publication Date: 2021-03-16
SOUTH CHINA UNIV OF TECH
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This method is computationally expensive

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  • Method for generating high-precision simulation point cloud model
  • Method for generating high-precision simulation point cloud model
  • Method for generating high-precision simulation point cloud model

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Embodiment

[0038] Such as figure 1 As shown, a method for generating a high-precision simulation point cloud model includes the following steps:

[0039] (1) Obtain the production line scene model established in the robot simulation software;

[0040] (2) In the coordinate system matching the production line scene model, according to the set light source position, use shadow mapping to render the production line scene model to obtain a production line scene model with correct shadow relationship.

[0041] (3) In the coordinate system matched with the scene model of the production line, according to the set parameters, simulate and generate a virtual projector with a specified posture. Using the method of texture mapping, the scene obtained in (2) is rendered, simulating the projection function of the projector to the coding pattern;

[0042] (4) In the coordinate system matched with the scene model of the production line, according to the set parameters, simulate and generate a virtual...

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Abstract

The invention discloses a method for generating a high-precision simulation point cloud model. The method comprises the following steps: acquiring a production line scene model established in robot simulation software; in a coordinate system matched with the production line scene model, rendering the production line scene model by utilizing a shadow mapping method according to a set light source position to obtain the production line scene model with a correct shadow relationship; rendering the production line scene model with the correct shadow relationship by using a texture mapping method to obtain virtual projection of the scene; performing scene image acquisition on the virtual projection according to the pinhole imaging model; and decoding the acquired image, and calculating three-dimensional coordinates of the spatial points to generate a simulation point cloud model. The high-precision simulation point cloud model can be generated, and the model can be subsequently used for carrying out noise reduction processing on the actual point cloud model.

Description

technical field [0001] The invention relates to the field of data processing, in particular to a method for generating a high-precision simulation point cloud model. Background technique [0002] 3D reconstruction technology is to reconstruct the 3D point cloud model of the specified environment through machine vision and other methods. The obtained point cloud model can be used to identify objects in the environment, pose estimation, etc. after processing such as noise reduction, segmentation, and recognition. operate. With the development of intelligent manufacturing, this technology has also been applied in the fields of factory automation control and safety inspection. The accuracy requirements for reconstructing point cloud models are also increasing. [0003] The main factor affecting the accuracy of 3D reconstruction point cloud is illumination. At present, the main methods are to cover the surface of the object to be measured with a matting agent to reduce the refl...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/00G06T15/60
CPCG06T15/60G06T17/00
Inventor 王念峰谢伟镛张宪民
Owner SOUTH CHINA UNIV OF TECH
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