A method for quantitatively evaluating the quality of target distribution in point cloud registration

A technology of distribution quality and point cloud registration, which can be used in image analysis, image enhancement, instrumentation, etc., and can solve problems such as inability to quantitatively evaluate

Inactive Publication Date: 2019-12-03
CHONGQING UNIV
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Problems solved by technology

[0006] The technical problem to be solved by the present invention is to provide a method for quantitatively evaluating the quality of target distribution in point cloud registration, which overcomes the shortcomings of existing theories and technologies that can only qualitatively evaluate the quality of target distribution and cannot be quantitatively evaluated

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  • A method for quantitatively evaluating the quality of target distribution in point cloud registration
  • A method for quantitatively evaluating the quality of target distribution in point cloud registration
  • A method for quantitatively evaluating the quality of target distribution in point cloud registration

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Embodiment Construction

[0053] In specific implementation, we often encounter three kinds of actual situations, and the present invention will be further described below in conjunction with the accompanying drawings and actual situations.

[0054] Actual situation 1 "The target has been fixed, and the best erection position of the scanner to be registered needs to be determined"

[0055] by process figure 2 Implementation, calculate the tDOP value of the scanner erection position, find the position with the smallest tDOP value as the best scanner erection position (corresponding to the above steps ⑦~⑩), the detailed steps for calculating the tDOP value are as follows:

[0056] First, select m in the point cloud of the target scene 2 Alternative Scanner Mounting Locations

[0057] Then, choose 1 position from the alternative positions o j , as an erection scheme of the scanner, its coordinates are (t x0 ,t y0 ,t z0 );

[0058] Then, from the coordinate information of the target, the position...

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Abstract

The invention discloses a method for quantitatively evaluating the distribution quality of targets in point cloud registration. The implementation steps are as follows: ① judge whether the target position is known, if known, go to ③, if unknown, obtain a backup target that can be placed ②Choose a target layout scheme from the alternative positions; ③Calculate its corresponding rDOP value; ④Evaluate the target distribution quality by the rDOP value, and the scheme with the smallest rDOP value is the best layout scheme; ⑤Judging the scan If the position of the scanner is known, go to ⑦, if unknown, obtain the alternative position for scanner erection; ⑥Select a position from the alternative positions; ⑦Calculate the tDOP value corresponding to this position; ⑧From the tDOP value to Evaluate the quality of scanner erection, and the position with the smallest tDOP value is the best erection position. The present invention proposes for the first time to quantitatively evaluate the quality of the target distribution through the rDOP model and the tDOP model, so as to help users determine the best layout scheme of targets and scanners, and overcome the current uncertainty of layout based on experience only. This method uses Convenient and operable.

Description

technical field [0001] The invention belongs to the field of three-dimensional laser scanning point cloud registration, in particular to a quantitative evaluation method for target distribution quality in the field of point cloud registration. Background technique [0002] Terrestrial laser scanning technology can conveniently and quickly obtain the surface space information of the target. The information density and accuracy of the obtained information are much higher than the traditional surveying and mapping technology. It is widely used in reverse engineering, cultural relic scanning, surveying and mapping industries and other fields. Due to the occlusion of objects or the limitation of the scanning range of the scanner, under normal circumstances, it is necessary to scan the target from multiple stations in different directions to obtain the complete surface information of the target, and the point clouds obtained by different stations belong to different independent coo...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/30G06K9/62
CPCG06T2207/10028G06F18/2193
Inventor 杨荣华游扬声潘蕾西兰万震方西南
Owner CHONGQING UNIV
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