一种基于凹凸角点的激光点云配准方法及装置
By extracting and distinguishing concave and convex corner points and planar points, calculating the registration error and iteratively solving the pose transformation, the problems of initial value sensitivity and mismatch in traditional methods are solved, achieving higher accuracy and more reliable laser point cloud registration.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHINA NANHU ACAD OF ELECTRONICS & INFORMATION TECH
- Filing Date
- 2022-11-18
- Publication Date
- 2026-07-17
AI Technical Summary
Traditional lidar point cloud registration methods are sensitive to initial values and cannot effectively distinguish between concave and convex corner points, leading to mismatches in scenes with repetitive columnar objects, which affects positioning accuracy and reliability.
By extracting concave and convex corner points and planar points from the point cloud, invalid points are eliminated by utilizing the angle between left and right vectors and the distance difference. The registration error is calculated and the pose transformation is iteratively solved to achieve accurate registration between point cloud frames.
It improves the reliability and accuracy of laser positioning information, reduces the probability of false matching, and significantly improves positioning accuracy, especially in scenarios with repetitive columnar objects.
Smart Images
Figure CN115902842B_ABST