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Automatic registration method for large scale three dimension scene multiple view point laser scanning data

A 3D scene and laser scanning technology, applied in image data processing, instrumentation, computing, etc., can solve problems such as long iteration time, manual setting, and unsuitability for large-scale registration

Inactive Publication Date: 2005-10-19
TSINGHUA UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantage is that the initial conversion estimation needs to be manually set, and it is easy to fall into the local minimum, the iteration time is long, and it is not suitable for large-scale registration
The disadvantage of this method is that only using linear features is not universal, and the registration of 3D scenes such as large cultural relics and ancient buildings with less linear features often fails.
Both sequential registration and simultaneous registration are not suitable for large-scale scenarios

Method used

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  • Automatic registration method for large scale three dimension scene multiple view point laser scanning data
  • Automatic registration method for large scale three dimension scene multiple view point laser scanning data
  • Automatic registration method for large scale three dimension scene multiple view point laser scanning data

Examples

Experimental program
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Effect test

Embodiment 1

[0072] 1) Data acquisition

[0073] The laser range finder is placed 20-50 meters in front of the measured scene, adjust the range finder so that the Z axis is perpendicular to the ground, and the X and Y axes are parallel to the ground, and scan the measured scene row by row (such as figure 1 ), to obtain the 3D data corresponding to the viewpoint. In addition, 10% to 20% overlap of the scanning data of adjacent viewpoints is maintained, so that the three-dimensional data of each viewpoint can be registered smoothly.

[0074] 2) Extract the main building structure

[0075] Input the laser scanning data corresponding to each viewpoint, calculate the horizontal distance between each point on each vertical scanning surface and the laser range finder, and use the Hough transform to detect the vertical line segment according to the horizontal distance (as shown in Figure 2(a) and Figure 2(b) )], calculate the length of the vertical line with the number of points it contains, and...

Embodiment 2

[0124] In order to use the method of the present invention to automatically register the laser scanning data of 8 viewpoints in a large-scale three-dimensional scene to the student restaurant, its steps 1)-5) are the same as in Embodiment 1, except that: since the number of viewpoints exceeds 2, it is necessary to Do global registration:

[0125] First, all viewpoints (with overlapping areas) are pairwise registered, and a global registration model is established using the minimum spanning tree principle, and then a viewpoint S is selected according to the global registration model a Fixed, laser scan data conversion for other viewpoints in S a in the coordinate system.

[0126] Specifically, the transformation matrix T can be calculated for each pair of two viewpoints with overlapping areas i =[R i , t i ] and local matching degree g(T i ) (counted by the number of registered points). Taking each viewpoint as a node, with g(T i ) is the connection weight of the node, a...

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Abstract

The present invention relates to automatic multiple view point laser scanning data registering method for large scale 3D scene. The method includes the following steps: obtaining the data of the measured scene by using laser range finder with Z-axis regulated to be perpendicular to ground and X-axis and Y-axis to be parallel to ground; scanning the measured scene to obtain the 3D data of each view point in the superposing rate of 10-20 %; extracting the structure and characteristic of the measured matter; calculating the virtual characteristic unit and constituting characteristic unit, coarsely registering, finely registering, overall registering and finally establishing registered model. The method of the present invention is widely applicable.

Description

technical field [0001] The invention belongs to a three-dimensional data registration method in the field of computer information processing, in particular to a large-scale three-dimensional scene multi-view point laser scanning data automatic registration method. Background technique [0002] 3D data registration is the key technology of digitization and reverse engineering. Especially with the emergence of medium and long-distance 3D laser scanning technology, the process of 3D data acquisition has been simplified, and the development of digital cities, digital navigation, virtual reality, urban planning, digital protection of cultural relics and other related fields has been promoted. Ground-based 3D laser scanning data Highly regarded. In order to obtain a complete geometric description of large-scale 3D scenes, it is necessary to collect laser 3D scanning data at dozens or even hundreds of viewpoints, so there is a registration problem of converting laser 3D scanning d...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T3/00
Inventor 张爱武孙卫东胡少兴
Owner TSINGHUA UNIV
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