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A Method for Extracting Indoor Spatial Layout Based on Point Cloud Data

A technology for indoor space and point cloud data, applied in image data processing, special data processing applications, instruments, etc.

Active Publication Date: 2022-06-07
WUHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, this method is powerless for scenes such as cross-layer and excessive ground occlusion.

Method used

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  • A Method for Extracting Indoor Spatial Layout Based on Point Cloud Data
  • A Method for Extracting Indoor Spatial Layout Based on Point Cloud Data
  • A Method for Extracting Indoor Spatial Layout Based on Point Cloud Data

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Embodiment Construction

[0073] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the technical solutions of the present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0074] like figure 1 As shown, the present invention provides an indoor space layout extraction method based on point cloud data, comprising the following steps:

[0075] Step 1: Input the 3D point cloud, calculate the main direction of the 3D point cloud, and rotate the 3D point cloud to the main direction to obtain the rotated 3D point cloud:

[0076] The definition of the three-dimensional point cloud in step 1 is:

[0077] data k (x k ,y k ,z k ), k∈[1,K]

[0078] Among them, K is the number of points in the three-dimensional point cloud, data k (x k ,y k ,z k ) is the kth point in the 3D point cloud, (x k ,y k ,z k ) is the spatial coordinate of the kth point in the three-dimensional point clo...

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Abstract

The invention proposes a method for extracting indoor space layout based on point cloud data. The invention inputs the three-dimensional point cloud, calculates the main direction of the three-dimensional point cloud, and rotates the three-dimensional point cloud to the main direction to obtain the rotated three-dimensional point cloud; calculates the internal and external distribution map of the three-dimensional space of the indoor scene according to the rotated three-dimensional point cloud; the segmentation belongs to the interior The voxel set of voxels get the layout of the room; the distribution of floors is obtained by clustering the voxel subsets marked as different rooms. The invention can process three-dimensional point cloud data from different sources, and is also effective for data of complex indoor scenes such as multi-floors and sloped roofs.

Description

technical field [0001] The invention relates to the field of three-dimensional point cloud data processing, in particular to a method for automatically extracting indoor space layout by using point clouds obtained from indoor scenes. Background technique [0002] Establishing a digital description of the indoor environment plays an important role in construction, indoor emergency response and robotics applications. On the one hand, Building Information Modeling (BIM) is adopted by more and more design and builders, but with the rapid development of the times, the interior decoration also presents a trend of rapid change, and there is a lack of current BIM data; on the other hand On the one hand, a large number of existing buildings lack BIM. Therefore, the operation management and maintenance side of the building increasingly need the BIM with the current situation. Many technologies can be used to obtain 3D data of indoor environment, such as laser scanning, depth camera,...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F30/13G06T17/00G06T19/20G06V10/762G06K9/62
CPCG06F30/13G06T17/00G06T19/20G06F18/23
Inventor 艾明耀赵鹏程李加元胡庆武
Owner WUHAN UNIV