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A Point Cloud Registration Optimization Method Based on Normal Distribution Transformation Hypothesis Checking

A technology of normal distribution transformation and point cloud registration, which is applied in image analysis, image enhancement, instruments, etc., and can solve problems such as complex steps

Active Publication Date: 2022-04-01
HANGZHOU SUMA TECH +1
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Problems solved by technology

However, this method needs to recalculate the evaluation factor at each position of the map, the steps are more complicated, and it is only suitable for point cloud registration of specific small scenes

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  • A Point Cloud Registration Optimization Method Based on Normal Distribution Transformation Hypothesis Checking
  • A Point Cloud Registration Optimization Method Based on Normal Distribution Transformation Hypothesis Checking
  • A Point Cloud Registration Optimization Method Based on Normal Distribution Transformation Hypothesis Checking

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Embodiment Construction

[0040] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0041] Such as figure 1 As shown, a kind of point cloud registration optimization method based on normal distribution transformation assumption verification in this embodiment includes the following steps:

[0042] S1. Obtain the reference point cloud input at a certain moment, divide the reference point cloud into three-dimensional grids according to the resolution of a fixed size, and obtain a set V of three-dimensional grids, V={v 1 ,v 2 ,...,v n}, n is the number of stereo grids.

[0043] S2. For each three-dimensional grid in the set V, calculate its v when it conforms to the normal distribution transformation μ and v Σ , where v μ Indicates the coordinate mean value of the point cloud in the st...

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Abstract

The present invention proposes a point cloud registration optimization method based on NDT assumption verification, comprising the following steps: obtaining a reference point cloud, dividing the reference point cloud into three-dimensional grids and calculating the normal distribution of the point clouds in each grid Parameters; construct the local objective function of the point cloud in the grid to calculate the verification index δ of the NDT assumption; design a conversion function to convert δ into the weight of the three-dimensional grid in the global objective function, when the target point cloud is obtained, according to its three-dimensional The coordinates are calculated to obtain the corresponding weights of the grids to which they belong, and are substituted into the global objective function; finally, the point cloud registration result is obtained by solving the global objective function with weights. By adopting the method of the present invention, the weight of the target point cloud can be used to assist the global objective function to converge to a state where the reference point cloud and the target point cloud are more coincident, thereby improving the stability and accuracy of point cloud registration.

Description

technical field [0001] The invention belongs to the technical field of point cloud registration, and in particular relates to a point cloud registration optimization method based on normal distribution transformation hypothesis verification. Background technique [0002] Point cloud data refers to a set of vectors in a three-dimensional coordinate system. In addition to three-dimensional coordinates, the vector can also contain information such as color, time, and reflection intensity. Point clouds are generally obtained by scanning the surrounding environment with devices such as lidar and depth cameras. In the field of mobile robotics, point clouds are often used to represent the surface geometry of the scene around the robot. [0003] Point cloud registration refers to: transforming the target point cloud into the coordinate system of the reference point cloud through rotation and translation in three-dimensional space, and unifying the target point cloud and the referen...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/33
CPCG06T7/344G06T2207/10028
Inventor 苏金亚杨增辉杨国青吕攀
Owner HANGZHOU SUMA TECH
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