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Multi-viewpoint cloud global optimization registration method based on hierarchical closed loop constraint

A global optimization, closed-loop technology, used in image analysis, image enhancement, instrumentation, etc., to solve problems such as incomplete 3D target data

Active Publication Date: 2021-03-26
WUHAN UNIV
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Problems solved by technology

[0003] The 3D point cloud records the all-round geometry and attribute information of the target, and its description of the details is also very accurate. Phenomena such as overlap, occlusion, and similarity have brought great challenges to the extraction and enhancement of hand-held laser point cloud elements

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  • Multi-viewpoint cloud global optimization registration method based on hierarchical closed loop constraint
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  • Multi-viewpoint cloud global optimization registration method based on hierarchical closed loop constraint

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Embodiment Construction

[0034]Aiming at the hand-held laser scanning point clouds captured under different scanning angles, the present invention proposes a method based on hierarchical closed-loop constraints, for point cloud pairs that have completed feature extraction and pairwise registration, through the least squares joint adjustment error Analysis and correction, and a multi-view point cloud global optimization registration method. The overall technical process of the present invention consists of figure 1 shown. This method is divided into four key steps: global connectivity analysis, hierarchical traversal closed loop, closed loop error elimination and cumulative space transformation. The specific implementation steps of this method are figure 2 shown.

[0035] Step 1, select the datum point cloud coordinate system. First, read the multi-view point cloud file, the feature point pair information with the same name extracted based on feature consistency and geometric consistency, and the ...

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Abstract

The invention discloses a multi-view cloud global optimization registration method based on hierarchical closed loop constraint, and belongs to the crossing field of computer vision and laser scanningdata processing. The method comprises the steps: aiming at the spatial difference of neighborhood information of registration primitives generated by different scanning view angles of a hand, performing connectivity analysis on point clouds according to the feature consistency and geometric consistency of the registration primitives, constructing a connected graph for multi-view clouds, and unifying similarity transformation between paired point clouds to a reference coordinate system; and obtaining a global optimization fine registration result through error analysis and correction of leastsquare joint adjustment based on hierarchical closed loop constraints.

Description

technical field [0001] The invention belongs to the intersecting field of computer vision and laser scanning data processing, and in particular relates to point cloud data preprocessing, multi-view point cloud registration, and automatic research on laser point cloud measurement data processing. Background technique [0002] Laser scanning measurement technology is an important means to obtain three-dimensional target spatial information. The principle of laser ranging is used to create a point cloud of the geometric surface of the measured target. By recording the spatial coordinates, color texture and reflection intensity of a large number of dense points, it can quickly Reconstruct the three-dimensional entity of the measured target and various model primitive data such as lines, surfaces, and volumes. With the development and promotion of 3D point cloud acquisition technology, users can quickly obtain multi-resolution, multi-scale, multi-temporal point cloud data of scen...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/38G06T7/33
CPCG06T7/38G06T7/33G06T2207/10028
Inventor 张卉冉董震杨必胜
Owner WUHAN UNIV
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