Spatial registration method and device for three-dimensional volume data

Abstract

The invention relates to the field of computer vision and image processing, in particular to a spatial registration method and device for three-dimensional volume data, and the method comprises the steps: S1, obtaining first and second three-dimensional volume data of the same object; s2, performing coarse registration on the first three-dimensional body data and the second three-dimensional body data through a principal component analysis method; s3, centroid points of all tangent planes, perpendicular to the first direction, of the two pieces of three-dimensional volume data obtained after coarse registration are obtained, a centroid point set of all the three-dimensional volume data is obtained, and after straight line fitting is conducted on the set, a direction vector is obtained; s4, solving a registration rotation transformation matrix between the two groups of direction vectors; solving a registration translation transformation matrix according to the coordinates of the center centroid points of the two centroid point sets; and S5, performing coordinate transformation on the second three-dimensional volume data by using the registration rotation transformation matrix and the registration translation transformation matrix to complete registration. According to the method, the geometric space information of the three-dimensional volume data is fully utilized, the data set size is reduced, the registration time is shortened, and the registration efficiency and real-time performance are improved.

Description

technical field [0001] The present invention relates to the field of computer vision and image processing, in particular to a method and device for spatial registration of three-dimensional volume data. Background technique [0002] With the development of computer vision and image processing, people can easily and quickly obtain volume data including geometric attributes and spatial 3D information of objects. 3D volume data covers the rich information of the object itself, and it has more and more applications in medical images, 3D printing, games and entertainment and many other fields. 3D volume data can be collected in various forms, but in the actual collection process, limited by the lighting environment, the occlusion problem of the measured object itself, the scanning angle of the equipment, etc., only one scan of the object is often obtained. The three-dimensional volume data of the viewing angle, and there are translation and rotation dislocation phenomena under d...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the problems in the prior art that the matching process takes a long time and the matching speed is slow due to the lack of simplified point sets, and provides a method and device for spatial registration of three-dimensional volume data

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