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Indoor scene room layout division method based on point cloud

An indoor scene and layout technology, applied in the field of computer vision and image processing, can solve the problems of complex indoor scene layout, lack of scene data, difficult room layout division, etc. awesome effect

Active Publication Date: 2021-08-20
XIAN UNIV OF TECH
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Problems solved by technology

[0004] The purpose of the present invention is to provide a point cloud-based indoor scene room layout division method, which solves the problem of difficult room layout division caused by complex indoor scene layout and lack of scene data in the prior art

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  • Indoor scene room layout division method based on point cloud
  • Indoor scene room layout division method based on point cloud
  • Indoor scene room layout division method based on point cloud

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Embodiment Construction

[0086] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0087] The present invention is a method for dividing room layout of indoor scene based on point cloud, such as Figure 1-2 As shown, the specific steps are as follows:

[0088] Step 1. Establish a spatial coordinate system for the indoor scene. The xoy plane formed by the x-axis and y-axis in the spatial coordinate system is parallel to the ground, the z-axis is vertical upward, and the xoy, yoz, and xoz planes are perpendicular to each other;

[0089] Step 1 is specifically:

[0090] Step 2, extract the structural elements in the indoor scene, specifically including the ground, ceiling, and vertical walls;

[0091]Step 2.1, using the plane model of the RANSAC algorithm to extract and remove the ground and ceiling in the indoor scene, the ground and ceiling planes are composed of points, and save the remaining points;

[0092] Step 2.1 is...

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Abstract

The invention discloses an indoor scene room layout division method based on a point cloud, and the method comprises the following steps: 1, establishing a space coordinate system for an indoor scene, enabling an xoy plane formed by an x axis and a y axis in the space coordinate system to be parallel to the ground, enabling a z axis to be vertically upward, and enabling xoy, yoz and xoz planes to be perpendicular to each other; 2, extracting structural elements in the indoor scene; 3, projecting the wall surface extracted in the step 2 to an xoy plane, creating a depth image based on projection points, detecting a wall surface line by using the created depth image, and dividing a room layout according to the detected actual wall surface line; and 4, analyzing a division result generated in the step 3, optimizing the detected actual wall line on the basis of a Hough transform algorithm, and realizing complete division of the indoor scene room layout. According to the method, the problem of difficulty in room layout division caused by complicated indoor scene layout and scene data missing in the prior art is solved.

Description

technical field [0001] The invention belongs to the technical field of computer vision and image processing methods, and in particular relates to a point cloud-based indoor scene room layout division method. Background technique [0002] Among the various scenes in the real world, the indoor scene is the place most closely related to people's daily work and life, and is the most important part of human perception of the world. With the development of laser scanning technology, automatic robot technology and artificial intelligence technology, the understanding and analysis of indoor scenes is becoming more and more important, and it is widely used in the fields of scene virtual roaming, indoor navigation and positioning, architectural planning and monitoring. The needs of these indoor services require an accurate division of the room layout. [0003] In recent years, a large number of researchers have devoted themselves to the room layout division of indoor scenes. Therefor...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/00G06T7/187G06T7/136G06T7/13
CPCG06T17/00G06T7/187G06T7/136G06T7/13G06T2207/10012G06T2210/04Y02T10/40
Inventor 宁小娟刘瑛张金磊金海燕王映辉
Owner XIAN UNIV OF TECH
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