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Point cloud noise removal method and system, computer equipment and storage medium

A point cloud and noise technology, applied in the field of image processing, can solve problems such as unsatisfactory effects, no point cloud noise distribution, and high algorithm complexity

Active Publication Date: 2019-08-16
PEKING UNIV
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Problems solved by technology

[0006] The above methods mainly have the following two limitations: (1) In the above work, the distribution of point cloud noise is not pointed out, and for some work, it is only a slight increase on the basis of the original point cloud data. Gaussian white noise, and then denoise the Gaussian white noise on the point cloud, so these methods have obvious limitations
(2) Most of the above work is suitable for convex geometry with regular surface, but for the point cloud with complex structure, the effect obtained by using the above method is not very ideal, and the corresponding algorithm complexity is also very high

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  • Point cloud noise removal method and system, computer equipment and storage medium
  • Point cloud noise removal method and system, computer equipment and storage medium

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[0054] In order to understand the above-mentioned purpose, features and advantages of the present invention more clearly, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0055] In the following description, many specific details are set forth in order to fully understand the present invention, but the present invention can also be implemented in other ways different from those described here, therefore, the protection scope of the present invention is not limited to the specific details disclosed below. EXAMPLE LIMITATIONS.

[0056] Firstly, the spectral graph theory is introduced, which will be the core of the embodiment of the present invention. The spectrum theory includes the following contents:

[0057] (1) Graph and gr...

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Abstract

The invention provides a point cloud noise removal method and system, computer equipment and a computer readable storage medium. The point cloud noise removal method comprises the steps: obtaining point cloud data; determining abnormal points in the point cloud, and deleting the abnormal points; and determining noise points in the point cloud after the abnormal points are deleted, and deleting thenoise points. Through two main steps of abnormal point deletion and noise point deletion, the purpose of point cloud noise removal is achieved, and a good point cloud noise removal effect is achieved, and meanwhile the processing speed of point cloud noise removal is increased.

Description

technical field [0001] The present invention relates to the technical field of image processing, in particular to a point cloud noise removal method, a noise removal system, computer equipment, and a computer-readable storage medium. Background technique [0002] In the related art, the three-dimensional point cloud data of the collected image usually has noise erosion. In terms of hardware, noise will appear due to the precision error of the depth camera or 3D laser scanner; in the wrong position. In terms of environment, due to environmental factors (such as dust in the air, diffuse reflection on the surface of objects, etc.), the collected point cloud may be affected. [0003] For 3D point cloud data with noise like the above, there are currently two mainstream denoising algorithms: plane-based denoising algorithms and image signal processing-based filtering algorithms. [0004] The plane-based denoising method takes advantage of the fact that the noise is far away fro...

Claims

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Application Information

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IPC IPC(8): G06T5/00G06T15/00
CPCG06T15/00G06T5/70
Inventor 胡玮高翔郭宗明
Owner PEKING UNIV
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