Rapid selection and registration method for 3D laser radar point cloud data prediction points

A technology of point cloud data and laser radar, which is applied in the field of rapid selection and registration of 3D laser radar point cloud data prediction points, can solve problems such as slow construction speed, influence of selected prediction points, error amplification, etc., and achieve great reference value, The effect of improving the overall registration speed

Pending Publication Date: 2021-11-02
ZHEJIANG UNIV OF TECH
View PDF3 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, such methods have the following problems: first, such inventions usually use traditional machine learning algorithms to identify prediction points, which are less efficient due to the irregular arrangement of prediction points; second, in these studies , they all model the structure of the application scene as a single surface.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Rapid selection and registration method for 3D laser radar point cloud data prediction points
  • Rapid selection and registration method for 3D laser radar point cloud data prediction points
  • Rapid selection and registration method for 3D laser radar point cloud data prediction points

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0029] The specific implementation manners of the present invention will be further described in detail below in conjunction with the drawings and embodiments (taking the 3D mapping of the scene in area A as an example).

[0030] refer to Figure 1 ~ Figure 2 A method for quickly selecting and registering points predicted from 3D lidar point cloud data, comprising the following steps:

[0031] Step 1: First scan the area A with a 3D lidar to obtain the point cloud data point set Φ of the area A, and use the point cloud data set Φ as an input item;

[0032] Step 2: Divide the point cloud dataset Φ into 100 sub-data point sets Φ i (i=1,...,100), filter and retain the sub-point set Φ that meets the conditions (the number of data points in the sub-data point set > 3) j (j=1,...,95) are used to participate in point set registration;

[0033]

[0034] Where: S (Φ′) Indicates the sum of all point sets participating in point set registration;

[0035] Step 3: Analyze the sub-p...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

A rapid selection registration method for 3D laser radar point cloud data prediction points comprises the following steps: equally dividing a whole point cloud data set scanned by a laser radar into some sub-data sets, and carrying out regular division processing on each data point in the sub-data sets; and then based on the rule of dividing the data points in the sub-data sets, respectively carrying out rapid registration processing on the test points in each sub-data set, and verifying and selecting prediction points. According to the invention, the overall registration rate of the prediction point set in the three-dimensional point cloud data set is improved. The rapid selection and registration method for the three-dimensional laser radar point cloud data prediction points has a great reference value for point set registration processing of point cloud data in laser SLAM mapping.

Description

technical field [0001] The invention relates to the technical field of real-time positioning and mapping of three-dimensional laser radar, in particular to a method for quickly selecting and registering prediction points of 3D laser radar point cloud data. [0002] technical background [0003] In the map construction step, in addition to determining the map representation for SLAM (Simultaneous Localization And Mapping), there is another important goal: to control the newly constructed map elements at ideal positions, so as to facilitate the establishment of map elements between two frames of maps The corresponding relationship, which is also a preparation for the pose estimation step. However, the 3D environment is more complex than the 2D environment, and the number of 3D point sets is much larger than that of 2D point sets. Direct expansion will bring great problems. Because the algorithm complexity of the "prediction" step in the map reconstruction method is O(n 3 ), t...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G06T7/33G01S17/894
CPCG06T7/33G01S17/894G06T2207/10044G06T2207/10028G06T2207/20081
Inventor 付明磊林洋刘锦元
Owner ZHEJIANG UNIV OF TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap