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Three-dimensional point cloud quick detection method

An object and point cloud technology, applied in the field of computer vision, can solve the problems of long time-consuming 3D point cloud data, achieve fast detection speed and improve detection speed

Inactive Publication Date: 2014-10-29
NORTH CHINA ELECTRIC POWER UNIV (BAODING)
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Problems solved by technology

However, the processing of 3D point cloud data requires a large number of intensive computing algorithms, and in most cases requires real-time interaction, so it takes a long time to process 3D point cloud data

Method used

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Embodiment Construction

[0039] The invention will be described in further detail below in conjunction with the accompanying drawings.

[0040] Before detecting the objects in the scene, we know all the features of the objects to be detected, such as shape, volume, texture, all 3D point cloud coordinates, etc., store these known features in the database, and then analyze the objects in the scene The object to be detected is detected.

[0041] The flow chart of the inventive method is as figure 1 As shown, specifically:

[0042] Step 1: Obtain 3D point cloud data of a 3D scene, and downsample the 3D points of the object to be detected to generate a variable density concentric box model.

[0043] Because the point clouds of large-scale point cloud scenes are large and complex, it is difficult for computers to process them. So in general, it is known that the object to be detected (whose characteristics are known) is in a certain area, and then this area is set as the scene. For example, to detect a ...

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Abstract

The invention discloses a three-dimensional point cloud quick detection method and belongs to the technical field of computer vision. The three-dimensional point cloud quick detection method comprises step 1, obtaining three-dimensional point cloud data of a scene and downsampling three-dimensional points of to-be-detected objects to generate into a variable density concentric box model; step 2, calculating normal vectors of the three-dimensional points of the to-be-detected objects in the variable density concentric box model and a database; step 3, downsampling the three-dimensional points of the to-be-detected objects in the variable density concentric box model and the database, extracting respective key points and generating into edge histogram descriptors of the three-dimensional points; step 4, generating into a partial reference coordinate system of the key points of the to-be-detected objects in the variable density concentric box model and the database; step 5, performing key point matching; step 6, performing similarity analysis and finally finding the to-be-detected objects. The three-dimensional point cloud quick detection method can effectively reduce environment detection processing time and meanwhile guarantee the environmental detection effectiveness.

Description

technical field [0001] The invention belongs to the technical field of computer vision, in particular to a fast detection method for 3D point cloud objects. Background technique [0002] As a new form of digital media, 3D data has attracted widespread attention in recent years. In the process of digitizing the real world, 3D data has incomparable advantages over previous 2D images. It can accurately record the geometric properties of the object surface and the 3D information of the object in space. With the continuous development of current hardware technology, computer vision systems will ideally be able to capture 3D point cloud data of the world and process these 3D point cloud data in order to take advantage of their inherent depth information. The use of 3D point cloud data can obtain more detailed geometric shape information by capturing the pose of the research object, so the large amount of data provided in the 3D point cloud is very valuable for environmental detec...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00
Inventor 吴华杨国田冷强柳长安刘春阳
Owner NORTH CHINA ELECTRIC POWER UNIV (BAODING)
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