Point cloud registration result evaluation method, device and equipment and storage medium
A point cloud registration and registration technology, which is applied in the field of point clouds, can solve problems such as the inability to effectively improve the evaluation accuracy of point cloud registration results, and achieve the effect of improving accuracy
Active Publication Date: 2021-09-03
深圳市信润富联数字科技有限公司
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[0004] The main purpose of the present invention is to provide an evaluation method, device, equipment and storage medium for point cloud registration results, aiming to solve the technical problem that the prior art cannot effectively improve the evaluation accuracy of point cloud registration results
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[0054] It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0055] refer to figure 1 , figure 1 It is a schematic structural diagram of an evaluation device for the point cloud registration result of the hardware operating environment involved in the solution of the embodiment of the present invention.
[0056] Such as figure 1As shown, the evaluation device for point cloud registration results may include: a processor 1001 , such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002 , a user interface 1003 , a network interface 1004 , and a memory 1005 . Wherein, the communication bus 1002 is used to realize connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired in...
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The invention relates to the technical field of point clouds, and discloses a point cloud registration result evaluation method, device and equipment and a storage medium, and the method comprises the steps: obtaining a source point cloud and a target point cloud, carrying out the registration of the source point cloud and the target point cloud, and obtaining a corresponding rotation matrix and a translation matrix; determining a target point cloud registration result according to the rotation matrix and the translation matrix; calculating the target point cloud registration result according to a preset camera imaging strategy to obtain a target two-dimensional coincidence rate; and evaluating the target point cloud registration result according to the target two-dimensional coincidence rate and the two-dimensional coincidence rate of a preset model to obtain a corresponding evaluation result. According to the invention, the target two-dimensional coincidence rate is obtained through the preset camera imaging strategy and the target point cloud registration result, and the target point cloud registration result is evaluated according to the target two-dimensional coincidence rate and the two-dimensional coincidence rate of the preset model. Compared with the prior art, precision evaluation is carried out through the root mean square error, and the precision of point cloud matching result evaluation can be effectively improved.
Description
technical field [0001] The present invention relates to the field of point cloud technology, in particular to an evaluation method, device, equipment and storage medium of point cloud registration results. Background technique [0002] With the continuous development of computer vision, many different types of 3D vision sensors have emerged, such as structured light 3D sensors and binocular vision 3D sensors, and there are also many industrial application cases based on these 3D vision devices, for example, Disorderly grasping application scenarios to achieve the reduction of people and increasing efficiency, and disorderly grasping in the industrial application of 3D vision equipment based on structured light or binocular vision is usually achieved by combining the actual object point cloud collected by the 3D vision sensor with the The standard model point cloud of the object is registered to realize the category and attitude calculation of the object. Therefore, whether t...
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Login to View More IPC IPC(8): G06T7/30G06T7/80
CPCG06T7/30G06T7/80G06T2207/10012
Inventor 胡亘谦黄雪峰朱琦杨超蔡恩祥
Owner 深圳市信润富联数字科技有限公司