Point cloud fusion method and system based on symmetry plane

Abstract

The invention belongs to the field of 3D detection and measurement, and particularly relates to a point cloud fusion method and system based on a symmetry plane. The problems of point cloud layering, mutual overlapping and the like generated when multiple groups of point clouds are fused are solved. The method comprises the following steps: 1, defining two groups of point clouds needing to be fused, namely point clouds {pi, j} and point clouds {qm, n}; 2, calculating a tangent plane L1 of the point cloud {pi, j} at the point pi, j and a tangent plane L2 of the point cloud {qm, n} at the point qm, n; 3, calculating an average tangent plane of the tangent plane L1 and the tangent plane L2; 4, calculating space coordinates of a mean value point r'i, j of the point p'i, j and the point q'm, n, wherein the point p'i,j is a point after median filtering of the point pi, j, and the point q'm, n is a point after median filtering of the point qm, n; 5, calculating a projection point coordinate of the point r'i, j on the average tangent plane, namely a coordinate si, j of a point after the point pi, j and the point qm, n are fused; and 6, fusing all points in the point cloud {pi, j} and the point cloud {qm, n} by using the processes from the step 2 to the step 5 to obtain a fused point cloud {si, j}. Through the process, the layering and overlapping phenomena of the point cloud can be eliminated.

Description

technical field [0001] The invention belongs to the field of 3D detection and measurement, and in particular relates to a point cloud fusion method and system based on a symmetrical plane. Background technique [0002] The three-dimensional measurement method based on structured light has become an important three-dimensional measurement method because of its advantages of high precision, non-contact, and high measurement efficiency. However, due to the limitations of factors such as dynamic range and field of view, it is difficult to obtain the complete 3D point cloud reconstruction information of the measured object in a single shot of a single structured light depth camera. Therefore, in order to obtain more complete 3D point cloud information of the measured object, multiple structured light depth cameras are required for multi-angle shooting, or a single structured light depth camera is used for multiple shootings, so that multiple sets of points of the measured object ...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a point cloud fusion method based on a symmetry plane, which combines two sets of point clouds into a set of fusion point clouds that ca

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