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Point cloud registration method and device, server and computer readable medium

A point cloud registration and point cloud technology, applied in the field of devices, servers and computer readable media, and point cloud registration methods, can solve problems such as vehicle interference

Active Publication Date: 2019-08-02
APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The registration scheme based on rasterized point cloud information has a good registration effect, but vehicles driving on the ground will cause interference, and there are problems in scenes with similar heights or reflectance failures

Method used

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  • Point cloud registration method and device, server and computer readable medium
  • Point cloud registration method and device, server and computer readable medium
  • Point cloud registration method and device, server and computer readable medium

Examples

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Embodiment Construction

[0088] Example embodiments will be described more fully hereinafter with reference to the accompanying drawings, but may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0089] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0090] The terminology used herein is for describing particular embodiments only and is not intended to limit the present disclosure. As used herein, the singular forms "a" and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It will also be understood that when the terms "comprising" and / or "consisting of" are used in this specification, the stated features, integers, steps, operations, elements and / or co...

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Abstract

The invention provides a point cloud registration method and device, which combine point cloud semantic segmentation and rasterization, consider the attribute characteristics of a point cloud, providericher characteristic information except for height and reflectivity in point cloud data, and can adopt different registration schemes for different attribute characteristics, thereby improving the matching accuracy. On one hand, the attribute features serve as the basis of registration, and for some point cloud data with few strong feature scenes, the matching accuracy can also be improved; andon the other hand, the semantic segmentation can also remove noise of vehicles, pedestrians and the like which interferes with matching, so that the matching accuracy is further improved. For a scenewith a large collected data error (greater than 5m), the point cloud registration effect is particularly obvious by adopting the scheme of the embodiment of the invention. The invention further provides a server and a computer readable medium.

Description

technical field [0001] The present disclosure relates to the technical field of unmanned driving, and in particular to a point cloud registration method, device, server and computer-readable medium. Background technique [0002] Point cloud registration refers to merging two point clouds describing the same scene into one point cloud data without ghosting and offset through the method of rotation and translation. In the production of high-precision maps, due to the error of the GPS (Global Positioning System, Global Positioning System) of the collection vehicle itself, there are different degrees of deviations between the data collected in multiple trips, so point cloud registration is essential in high-precision maps few. In addition, point cloud registration is also widely used in 3D modeling, 3D reconstruction and other scenarios. [0003] The current mainstream point cloud registration methods are: [0004] 1. ICP (Iterative Closest Point, iterative closest point). S...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/33
CPCG06T7/33G06T2207/10028G06T7/30G06T2207/20016G06T2207/30248G06T2207/30252G06T7/337
Inventor 闫淼周子翔罗盼白宇马常杰佘党恩
Owner APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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