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Hub point cloud registration method and device, electronic equipment and storage medium

A point cloud registration and hub technology, which is applied in character and pattern recognition, image data processing, instruments, etc., can solve problems such as poor registration effect

Active Publication Date: 2021-10-01
深圳市信润富联数字科技有限公司
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  • Abstract
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  • Claims
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Problems solved by technology

[0004] In order to solve the technical problem that the registration effect is not good in the point cloud coarse registration process, the embodiment of the present invention provides a hub point cloud registration method, device, electronic equipment and storage medium

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  • Hub point cloud registration method and device, electronic equipment and storage medium
  • Hub point cloud registration method and device, electronic equipment and storage medium
  • Hub point cloud registration method and device, electronic equipment and storage medium

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Embodiment Construction

[0052] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

[0053] The embodiment of the present invention provides a hub point cloud registration method, such as figure 1 As shown, the method includes:

[0054] Step 101: Obtain the hub sampling point cloud and the preset hub standard point cloud obtained by shooting the hub;

[0055] Step 102: Correct the inclination of the hub sampling point cloud, so that the main axis direction of the hub sampling point cloud coincides with the main axis direction of the hub standard point cloud; wherein, the main axis direction is the direction where the hub rotation axis is located ;

[0056] Step 103: Project the corrected hub sampling point cloud and the hub standard point cloud onto a reference plane to obtain a sampling point cloud projection image and a standard point cloud projection image respectively; wherein, the reference plane is the same as the main axis O...

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Abstract

The invention discloses a hub point cloud registration method and device, electronic equipment and a storage medium. The method comprises the steps of: acquiring a hub sampling point cloud and a preset hub standard point cloud; performing inclination correction on the hub sampling point cloud, so that the main axis direction of the hub sampling point cloud coincides with the main axis direction of the hub standard point cloud; projecting the corrected hub sampling point cloud and the corrected hub standard point cloud to a reference plane to respectively obtain a sampling point cloud projection image and a standard point cloud projection image; performing image matching on the sampling point cloud projection image and the standard point cloud projection image to obtain rotation amount and translation amount for moving the sampling point cloud projection image to be overlapped with the standard point cloud projection image; determining a main shaft translation amount between the hub sampling point cloud and the hub standard point cloud based on the moved sampling point cloud projection image and the standard point cloud projection image; and moving the hub sampling point cloud according to the rotation amount, the translation amount and the main shaft translation amount. According to the scheme provided by the invention, the registration precision of the hub point cloud can be improved, and the registration error is reduced.

Description

technical field [0001] The present invention relates to the technical field of point cloud registration, in particular to a hub point cloud registration method, device, electronic equipment and storage medium. Background technique [0002] Point cloud registration refers to the process of first obtaining the relative pose of the point cloud to be measured and the standard point cloud, and then performing translation and rotation transformation on the point cloud to be measured to make it the same as the standard point cloud pose. Currently, the Iterative Closest Point (ICP) method is widely used for point cloud registration, and the registration accuracy is extremely high. However, in this method, in order to avoid falling into a local optimum in the process of matching point pairs, the point cloud is usually roughly registered first in practical applications, so that the relative poses of the two point clouds will not differ too much. In order to avoid falling into local o...

Claims

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Application Information

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IPC IPC(8): G06T7/33G06K9/62
CPCG06T7/33G06F18/22
Inventor 赵佳南黄雪峰杨超胡亘谦刘云备蔡恩祥吴志浩
Owner 深圳市信润富联数字科技有限公司
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