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Point cloud downsampling method based on image edge detection

An image edge, downsampling technology, applied in image enhancement, image analysis, image data processing and other directions, can solve the problem of reducing the feature information of point cloud model, and achieve the effect of improving real-time performance

Active Publication Date: 2021-03-16
SOUTH CHINA UNIV OF TECH
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  • Abstract
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Problems solved by technology

[0004] The disadvantage of the method mentioned above is mainly that it will reduce the feature information contained in the point cloud model

Method used

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  • Point cloud downsampling method based on image edge detection
  • Point cloud downsampling method based on image edge detection
  • Point cloud downsampling method based on image edge detection

Examples

Experimental program
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Embodiment

[0041] like figure 1 As shown, a point cloud downsampling method based on image edge detection includes the following steps:

[0042] The scene to be detected in S1 is a six-axis industrial robot placed on a level ground and a cube suspended in the air. The height of the projector and the camera is 3 meters, and the relative position of the two makes the stripes in the final picture collected by the camera be horizontal or vertical. A projector is used to project the scene to be detected, and the projected images are two fringe images, the fringes on the two images are perpendicular to each other and the fringe widths are equal. Then, the camera is used for image acquisition to obtain two scene images with stripes in different directions;

[0043] S2 When the positions of the projector and the camera remain unchanged, use the projector to project a blank image of the scene to be detected, and then use the camera to collect the image to obtain a map of the shadow area of ​​th...

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Abstract

The invention discloses a point cloud downsampling method based on image edge detection. The point cloud downsampling method comprises the steps of projecting a coded stripe image to a scene and performing image acquisition; projecting a blank image to the scene and performing image acquisition; filling a shadow area in the stripe scene image; carrying out edge contour detection on the filled scene stripe image; performing white noise processing on the object contour map; and applying the obtained mask to a point cloud generation process. Calculation amount of the point cloud model in operations such as transmission and processing is reduced, and the real-time performance is improved.

Description

technical field [0001] The invention relates to the field of point cloud data processing, in particular to a point cloud down-sampling method based on image edge detection. Background technique [0002] 3D reconstruction technology is to reconstruct the 3D point cloud model of the specified environment through machine vision and other methods. The obtained point cloud model can be used to identify objects in the environment, pose estimation, etc. after processing such as noise reduction, segmentation, and recognition. operate. With the development of intelligent manufacturing, this technology has also been applied in the fields of factory automation control and safety inspection. Therefore, the real-time requirements for point cloud model transmission, segmentation, recognition and other processing are also increasing. [0003] Generally speaking, reducing the size of the point cloud model by downsampling the point cloud model is one of the effective ways to increase the s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/13
CPCG06T7/13G06T2207/10012
Inventor 王念峰谢伟镛张宪民
Owner SOUTH CHINA UNIV OF TECH
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