Point cloud splicing method and device based on reference object, and storage medium
A point cloud splicing and reference object technology, applied in the field of point cloud processing, can solve problems such as inability to obtain accurate splicing results, and achieve the effect of improving accuracy
Pending Publication Date: 2021-11-16
佛山缔乐视觉科技有限公司
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Problems solved by technology
However, the existing splicing methods cannot obtain accurate splicing results when facing point clouds of spliced objects that are not rich in features, so it is necessary to find a solution
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[0045]In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is an embodiment of a part of the application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.
[0046] The terms "first", "second", "third" and "fourth" in the specification and claims of the present application and the drawings are used to distinguish different objects, rather than to describe a specific order . Furthermore, the terms "include" and "have", as well as any variations thereof, are intended to cover a non-exclusive inclusion. For exam...
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The invention discloses a point cloud splicing method and device based on a reference object and a storage medium. The method comprises the following steps: introducing point clouds of reference objects except a splicing object into a target point cloud and a test point cloud; performing first segmentation processing according to the test point cloud to obtain a first reference object point cloud; performing second segmentation processing according to the target point cloud to obtain a second reference object point cloud; performing fitting processing on the first reference object point cloud and the second reference object point cloud to obtain a spatial pose transformation matrix; performing coarse registration on the test point cloud through the spatial pose transformation matrix; performing iterative calculation processing according to the coarse registration result and the target point cloud, and determining a target transformation matrix; accurately splicing the test point cloud to the target point cloud through the target transformation matrix; splicing the test point cloud and the target point cloud based on the first reference object point cloud and the second reference object point cloud, namely, an accurate splicing result can be obtained even if the splicing object features are not rich, and the splicing accuracy is improved; the invention can be widely applied to the field of point cloud processing.
Description
technical field [0001] The invention relates to the field of point cloud processing, in particular to a point cloud splicing method, device and storage medium based on a reference object. Background technique [0002] Today, due to the limitation of the scanning field of view of high-precision scanning equipment, when collecting 3D point clouds of slightly larger workpieces, it is usually necessary to place the scanning equipment in different positions to obtain local point clouds, and then stitch these local point clouds to obtain global points. cloud. Since the point cloud collected by the scanning device at different positions is described in the local coordinate system, it usually needs to be rotated and translated to unify it into the global coordinate system, so that it can be spliced with the target point cloud. However, the existing splicing methods cannot obtain accurate splicing results when facing point clouds of spliced objects that are not rich in features,...
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IPC IPC(8): G06T7/11G06T7/30G06T5/50G06T3/00
CPCG06T5/50G06T7/11G06T7/30G06T2207/10028G06T3/14
Inventor 刁世普黄冠成罗坚铭肖盼林健发李威胜
Owner 佛山缔乐视觉科技有限公司