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A Point Cloud Simplified Filtering Method

A point cloud and three-dimensional technology, applied in the field of image processing, can solve the problems of low computing power of embedded processors, difficulty in meeting engineering application requirements, and long time-consuming operation of existing methods, achieving point cloud simplification and fineness, fast computing speed, The effect of meeting processing time requirements

Active Publication Date: 2019-05-24
BEIJING INST OF CONTROL ENG
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  • Summary
  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

In engineering applications, point clouds are mostly processed based on embedded processors. Due to the low computing power of embedded processors, existing methods take a long time to run and are difficult to meet the needs of engineering applications.
In the point cloud obtained by practical engineering applications, the distance noise is relatively large, because of the error caused by the distance noise, there is no effective filtering method

Method used

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  • A Point Cloud Simplified Filtering Method

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Embodiment 1

[0059] (1) Taking the laser emission point of the laser scanner as the coordinate origin o, taking the horizontal direction as the x-axis, the vertical direction as the y-axis, the z-axis and the x, y-axis satisfy the right-hand rule, and establish an angular distance coordinate system oxyz; wherein, The x-axis coordinate represents the left and right horizontal swing angle α of the laser scanner, which is defined as positive to the left; the y-axis coordinate represents the vertical swing angle β of the laser scanner up and down, and is defined as positive upward; the z-axis coordinate represents the laser emission point of the laser scanner to the target The distance value L;

[0060] (2) In the angular distance coordinate system oxyz, the point cloud starts from the minimum angle -4 degrees corresponding to the α angle and ends at the maximum angle +4 degrees. On the x-axis, 41 points perpendicular to the x-axis are divided at intervals of 0.2 degrees. The plane; with the m...

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Abstract

The present invention provides a point cloud simplified filtering method. First, the angular distance coordinate system oxyz is established, and then divided into cylinders. The points in each minimum cylinder are simplified into a three-dimensional angular distance point. Then the three-dimensional angular distance points of the current cylinder are filtered using the three-dimensional angular distance points of the upper, lower, left and right cylinders. After converting the filtered three-dimensional angular distance points in the angular distance coordinate system oxyz to the three-dimensional coordinate points in the three-dimensional position coordinate system o’x’y’z’, they are further divided by cylinders and simplified into three-dimensional distance points. Then in the three-dimensional position coordinate system o’x’y’z’, the three-dimensional distance points of the current cylinder are further filtered using the three-dimensional distance points of the upper, lower, left and right cylinders. The method of the present invention has high point cloud simplification and filtering accuracy, fast calculation speed, and takes up little memory space.

Description

technical field [0001] The invention relates to a point cloud simplified filtering method, which belongs to the technical field of image processing. Background technique [0002] The 3D laser scanner uses the laser beam to scan continuously along the solid surface, and the diffuse reflection light spots formed on the measured solid surface are imaged on the sensor. These dense point data are vividly called "point cloud", which can truly describe the overall structure and morphological characteristics of the measured entity. [0003] During the point cloud acquisition process, the distance L between the scanning head and the measured object can be calculated according to the time difference between the laser beam being emitted and received. Using the scanning data of the oscillating mirror, the laser emission orientation can be obtained, that is, α angle and β angle. The combination of distance and bearing can measure the three-dimensional coordinates of each point. In fur...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T5/00G01B11/24
CPCG01B11/24G06T2207/20024G06T5/70
Inventor 刘达王立李轶朱飞虎吴云郭绍刚刘忠汉
Owner BEIJING INST OF CONTROL ENG
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