Multi-point cloud registration method based on plane point cloud segmentation
A plane and point cloud technology, applied in the field of mobile mapping, can solve the problem of low accuracy, and achieve the effect of improving accuracy, improving accuracy and reducing quantity
Pending Publication Date: 2021-09-03
THE HONG KONG POLYTECHNIC UNIV SHENZHEN RES INST
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[0005] The technical problem to be solved by the present invention is to provide a multi-point cloud registration method based on planar point cloud segmentation in view of the above-mentioned defects of the prior art, aiming at solving the low accuracy of pose generation in the process of mobile mapping in the prior art The problem
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[0064] The present invention discloses a multi-point cloud registration method based on planar point cloud segmentation and a computer-readable storage medium. In order to make the purpose, technical solution and effect of the present invention clearer and clearer, the following describes the embodiment of the present invention with reference to the accompanying drawings. Further details. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0065] Those skilled in the art will understand that unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the word "comprising" used in the description of the present invention refers to the presence of said features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other fea...
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The invention discloses a multi-point cloud registration method based on plane point cloud segmentation, and the method comprises the steps of carrying out the grouping of obtained initial point clouds according to a combination method, carrying out the preprocessing of a first initial point cloud and a second initial point cloud in each group, and obtaining an intermediate point cloud; grouping the point cloud planes of the intermediate point cloud to obtain a point cloud plane combination; performing dichotomy segmentation on the point cloud plane to obtain a sub-plane combination; according to the matching relation of the point cloud planes, obtaining the matching relation of effective sub-planes in the sub-plane combination; according to the matching relationship, obtaining a registration relationship between the first initial point cloud and the second initial point cloud in each group; and inputting the registration relationship into the observation map, and obtaining the registration relationship between the non-reference point cloud and the reference point cloud in all the initial point clouds to obtain a mobile measurement point cloud. The point cloud plane is subjected to dichotomy segmentation to obtain the sub-planes, so that the number of points participating in registration calculation is reduced, the accuracy of the registration relation is improved, and the precision of multipoint cloud registration is further improved.
Description
technical field [0001] The invention relates to the technical field of mobile mapping, in particular to a multi-point cloud registration method based on planar point cloud segmentation. Background technique [0002] Mobile measurement based on multi-beam laser scanner is an important means of mobile geometric information acquisition, and has wide application potential in fast mobile measurement, and there are many methods based on sensor fusion to realize the registration and scene point of mobile point cloud Cloud generation. In the process of mobile mapping, methods based on planar features are widely used to complete mobile mapping of artificial or mixed environments, and provide geometric information for geographic information data collection, measurement and model generation. [0003] Due to the particularity of the multi-beam mobile scanner, the plane features collected by it have the characteristics of low coverage and low resolution, which is not conducive to the us...
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IPC IPC(8): G06T7/30G06T7/10
CPCG06T7/30G06T7/10G06T2207/10012Y02T10/40
Inventor 史文中范文铮
Owner THE HONG KONG POLYTECHNIC UNIV SHENZHEN RES INST