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A method for automatic registration of laser point cloud data based on 3D line features

A technology of laser point cloud data and automatic registration, which is applied in image data processing, instruments, calculations, etc., can solve the problems of incomplete data, difficulty in obtaining ideal results, and difficulty in obtaining ideal results by applying ICP, so as to meet the requirements of low The effect of resolution

Inactive Publication Date: 2017-01-18
BEIJING UNIV OF CIVIL ENG & ARCHITECTURE
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Problems solved by technology

In the actual 3D laser scanning of the ground, the single-site cloud data has the characteristics of uneven point density, incomplete data (occlusion, viewing angle, etc.), and is easily affected by noise. Therefore, it is difficult to obtain ideal results based on algorithms such as curvature and local description features.
In actual measurement, ICP is a high-precision point cloud registration method, but requires high-resolution laser point cloud data
When the resolution of laser point cloud data is low, it is difficult to obtain ideal results by applying ICP
In addition, ICP needs to be optimized on the basis of the initial registration to achieve fine registration, and cannot be used alone as a registration method

Method used

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  • A method for automatic registration of laser point cloud data based on 3D line features
  • A method for automatic registration of laser point cloud data based on 3D line features
  • A method for automatic registration of laser point cloud data based on 3D line features

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Embodiment

[0082] In order to verify the validity of the algorithm of the present invention, a Leica HDS 6000 scanner is used to scan a certain indoor building to obtain test data. The accuracy of point measurement is 3mm (50m distance). Figure 2 shows the intensity raster images obtained from the data of the two stations, in which the left image is the data of the left station (reference station), and the image on the right is the data of the right station (the station to be registered).

[0083] Using the method of the present invention to extract boundary points, clustering and deleting smaller sets, the results are shown in Figure 3(a) and Figure 3(b). Then in each cluster, the RANSAC method is used to detect the straight line equation. In the process, the point-to-line threshold is set to 0.005m, the maximum number of iterations is 1000, and the minimum number of consistent sets is 50. After obtaining the line equations and their consistent sets, project the points in the consisten...

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Abstract

The invention discloses a method for automatically registering cloud data of laser dots based on three-dimensional line characters. The method comprising the steps that a line characteristic set is extracted from the cloud data of the laser dots from each site for two adjacent sites; two arbitrary nonparallel space-straight-lines are regarded as a straight line pair, and the included angle and the vertical distance of the straight line pair are regarded as two rotation invariants for any site of the two adjacent sites; when the rotation invariants are eligible, the referenced straight line pair and the straight line pair to be registered become a pair of candidate straight line pair of the same name; c initial transform relations are respectively calculated by c pairs of candidate straight line pair of the same name, one initial transform relation is chosen to be the optimal initial transform relation, and all the straight line pairs of the same name of the site to be registered and the referenced site are calculated; the transform relation between the site to be registered and the referenced site is calculated by all the straight line pairs of the same name. The method disclosed by the invention utilizes the linear characters comprised in a target object to automatically register the cloud data of the laser dots without a target and acquire a three-dimensional data model of high quality.

Description

technical field [0001] The invention relates to an automatic registration method for laser point cloud data, in particular to an automatic registration method for laser point cloud data based on three-dimensional line features. Background technique [0002] Although terrestrial laser has become a relatively mature and widely used technology, the automatic registration of multi-site laser point cloud data (referred to as "automatic registration") is still a relatively popular research direction. When the object is difficult to approach or the target is difficult to arrange, it is of great significance to study how to use the characteristics of the object itself to realize the effective automatic registration of point cloud data. It helps to reduce the cost of time, manpower, and material resources, and enables non-professional users to obtain high-quality 3D data models. [0003] In actual operation, the method of target or manual marking is often used for registration. When...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/00
Inventor 王晏民石宏斌
Owner BEIJING UNIV OF CIVIL ENG & ARCHITECTURE
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