Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Quick ICP method for three-dimensional laser radar point cloud matching

A point cloud matching, 3D laser technology, applied in the field of fast ICP, can solve the problems of ICP algorithm falling into local optimal solution, unable to process 3D lidar point cloud data, and low efficiency of ICP algorithm.

Inactive Publication Date: 2015-05-13
UNIV OF ELECTRONICS SCI & TECH OF CHINA ZHONGSHAN INST
View PDF2 Cites 11 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the ICP algorithm has the following disadvantages: (1) the initial estimate is required to be more accurate, (2) a large amount of point cloud data makes the ICP algorithm inefficient, (3) the ICP algorithm may fall into a local optimal solution
This method cannot handle 3D lidar point cloud data

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Quick ICP method for three-dimensional laser radar point cloud matching
  • Quick ICP method for three-dimensional laser radar point cloud matching
  • Quick ICP method for three-dimensional laser radar point cloud matching

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0035] In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further described below in conjunction with the accompanying drawings and specific examples.

[0036] The invention is applied to the three-dimensional pose estimation of mobile robots

[0037] Γ t Relative to Γ t-1 The pose of is denoted as x t =(x t ,y t ,z t ,α t ,β t ,γ t ) T , where x t ,y t ,z t Respectively represent Γ t The origin of the coordinate system is in the coordinate system Γ t-1 Coordinates in , γ t , β t , α t Respectively represent Γ t Relative to Γ t-1 Rotation angle in X, Y, Z axes.

[0038] Then the translation vector is,

[0039] p t =(x t ,y t ,z t ) T

[0040] The rotation matrix is,

[0041] H t = cos α t ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a quick ICP method for three-dimensional laser radar point cloud matching. In terms of characteristics of original point cloud data of three-dimensional laser radar, the method is used for quickly calculating the closest point between two point clouds under a polar coordinate system. The three-dimensional laser radar point cloud registration speed is increased according to the method. The registration speed of the original point cloud data of the three-dimensional laser radar is greatly increased, namely time complexity is reduced from O (DNcNm) of the classic ICP method to O (DNc), wherein Nc is the number of current point cloud data, and Nm is the number of model point set data.

Description

technical field [0001] The invention relates to a fast ICP method, in particular to a fast ICP method for three-dimensional lidar point cloud matching. Background technique [0002] 3D lidar provides 3D depth information of the environment (or objects), and is widely used in many applications such as robot navigation, object reconstruction, medical image analysis, terrain mapping, and cultural relic protection. [0003] The point cloud data provided by 3D lidar needs to be registered before it can be used for subsequent environment modeling, object reconstruction, terrain construction and other work. At present, the widely used 3D lidar data matching method is the latest iterative algorithm (ICP, Iterative Close Point) and its improved method. However, the ICP algorithm has the following disadvantages: (1) the initial estimation is required to be more accurate, (2) a large amount of point cloud data makes the ICP algorithm inefficient, and (3) the ICP algorithm may fall int...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G06F19/00
Inventor 段琢华梁瑞仕马慧邹昆
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA ZHONGSHAN INST
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com