Point cloud registration method based neighbourhood rotary volume

Abstract

The invention provides a point cloud registration method based a neighbourhood rotary volume and belongs to the technical field of three-dimensional images. The point cloud registration method based the neighbourhood rotary volume aims at solving the technical problems of low registration speed and poor anti-noise performance exist in an existing point cloud registration method. The method comprises the steps of loading and separately calculating a source key point set and a target key point set of source point cloud and target point cloud of which visual angles are adjacent; for each key point, using n times of surface resolution as a neighbourhood, calculating out the rotary volume of neighborhood inner points and using the rotary volume as a description vector, and obtaining a source key point description vector set and a target key point description vector set; according to a calculation result of the last step, calculating a rotary translation matrix; using the rotary translation matrix to rotate and translate the source key point description vector set, and obtaining a middle key point description vector set; according to a final rotary translation matrix, converting the source point cloud to a coordinate system in which the target cloud is located, and obtaining middle point cloud; using an ICP algorithm to precisely registrate the middle point cloud and the target point cloud.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional images, and in particular relates to a point cloud registration method based on a neighborhood rotating volume. The point cloud registration method is suitable for solving the splicing and registration problems of two point clouds whose surfaces partially overlap. Background technique [0002] With the development of three-dimensional (3D) point cloud scanning technology, the hardware equipment is getting cheaper and cheaper, and the acquisition of 3D point cloud data is becoming more and more convenient. 3D point cloud data is widely used in various fields, such as the production of industrial parts, product quality control, biomedicine, cultural relics, building protection, etc. In the process of data acquisition, due to the limitation of the field of view of the measurement equipment, usually only a partial surface view of the measured object can be obtained, and it is difficult to ob...

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Problems solved by technology

[0004] In order to solve the technical problems existing in existing 3D point cloud registration methods, such as many iterations, slow convergence speed, complex calculation, slow registration speed, poor noise resistance, etc., the present invention provides a point cloud registration method based on neighborhood rotation volume. quasi-method

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