Three-dimensional point cloud automatic registration method fusing line laser contour features

Abstract

At present, point cloud registration is widely applied to the traditional manufacturing industry and the emerging high-tech industry. In the fields of unmanned driving, the building industry and the like, point cloud registration lays a foundation for point cloud processing related work such as subsequent point cloud fusion and point cloud surface reconstruction, and the precision of point cloud registration also directly influences the precision of multiple point cloud high-level applications. Research on a point cloud registration algorithm mainly focuses on improvement of the point cloud registration precision and reduction of the operation time of the point cloud registration algorithm. The laser contour sensor is widely applied in industry in recent years, the measurement precision ofthe laser contour sensor can reach the micron order, hundreds of thousands of point cloud data can be obtained within a very small scanning range, and if a traditional point cloud registration algorithm is used, the registration time is long, and aiming at point cloud data obtained by the laser contour sensor, the point cloud registration precision is greatly improved. The invention provides a laser point cloud rapid registration algorithm combined with contour features. Line laser point cloud registration can be completed within several milliseconds.

Description

technical field [0001] The invention belongs to the field of computer vision, and in particular relates to a three-dimensional point cloud automatic registration method for merging line laser contour features. Background technique [0002] With the rapid development of sensor technology, three-position sensors have also been widely used in various industries. The rapid development of semiconductor sensor technology and computer equipment from the late 1980s to the early 21st century, especially the qualitative improvement of the computing power of computers, followed by the rapid development of point cloud processing technology , has expanded from the previous individual fields to many fields, such as reverse engineering in industrial manufacturing, medical image modeling in medicine, restoration of cultural relics in archaeology, character modeling in games and animations, and terrain exploration and construction in geology. model and so on. Although it has been well appl...

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Problems solved by technology

[0005] The purpose of the present invention is to overcome the problems that the existing point cloud registration algorithm is used for line laser point cloud registration, the accuracy cannot meet the requirements, and the running time of the algorithm is too long, and provides an effective, scientific and reasonable line-based A Fast Point Cloud Registration Method for Contour Features of Laser Point Cloud

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