Multi-view point cloud global optimal registration method based on hierarchical closed-loop constraints

A global optimization and closed-loop technology, applied in image analysis, image enhancement, instruments, etc., can solve the problem of incomplete 3D target data and achieve the effect of reducing the average distance error

Active Publication Date: 2022-06-03
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-view point cloud global optimal registration method based on hierarchical closed-loop constraints
  • Multi-view point cloud global optimal registration method based on hierarchical closed-loop constraints
  • Multi-view point cloud global optimal registration method based on hierarchical closed-loop constraints

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Embodiment Construction

[0034]Aiming at the handheld laser scanning point clouds captured under different scanning viewing angles, the present invention proposes a method based on hierarchical closed loop constraints. Analysis and correction, and global optimization and registration method of multi-view point cloud. The overall technical process of the present invention consists of figure 1 shown. The method is divided into four key steps: global connectivity analysis, hierarchical traversal of closed loops, closed loop error elimination and cumulative spatial transformation. The specific implementation steps of this method are as follows: figure 2 shown.

[0035] Step 1, select the reference point cloud coordinate system. First, read the multi-view point cloud file, the feature point pair information of the same name extracted based on feature consistency and geometric consistency, and the pairwise registration results after closed loop gross error detection. Enter the point cloud and paired r...

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Abstract

The invention discloses a multi-view point cloud global optimization registration method based on hierarchical closed-loop constraints, which belongs to the intersection field of computer vision and laser scanning data processing. The present invention aims at the spatial difference of the registration primitive neighborhood information generated by different scanning angles of the hand, and analyzes the connectivity of the point cloud according to the feature consistency and geometric consistency of the registration primitive, constructs a connectivity graph for the multi-viewpoint cloud, and converts the The similarity transformation between point clouds is unified to the reference coordinate system. Based on the hierarchical closed-loop constraints, through the error analysis and correction of the least squares joint adjustment, the global optimal fine registration result is obtained.

Description

technical field [0001] The invention belongs to the intersection field of computer vision and laser scanning data processing, and particularly 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. It uses the principle of laser ranging to create a point cloud on the geometric surface of the measured target. Reconstruct the 3D entity of the measured target and various model primitive data such as line, surface and volume. With the development and promotion of 3D point cloud acquisition technology, users can quickly acquire multi-resolution, multi-scale, and multi-temporal point cloud data of scene objects. Among them, the handheld laser scanner has good portability, high geometric accuracy (sub-millimeter level), and can quickly compl...

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Application Information

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Patent Type & Authority Patents(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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