CN113219489B - Point-to-point determination method, device, computer equipment and storage medium for multi-line laser - Google Patents

Point-to-point determination method, device, computer equipment and storage medium for multi-line laser Download PDF

Info

Publication number
CN113219489B
CN113219489B CN202110524505.8A CN202110524505A CN113219489B CN 113219489 B CN113219489 B CN 113219489B CN 202110524505 A CN202110524505 A CN 202110524505A CN 113219489 B CN113219489 B CN 113219489B
Authority
CN
China
Prior art keywords
laser
point
point pair
line
same
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202110524505.8A
Other languages
Chinese (zh)
Other versions
CN113219489A (en
Inventor
杨琪
冉国江
翟剑坤
黄国明
刘国帅
王佳轩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Xhorse Electronics Co Ltd
Original Assignee
Shenzhen Xhorse Electronics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Xhorse Electronics Co Ltd filed Critical Shenzhen Xhorse Electronics Co Ltd
Priority to CN202110524505.8A priority Critical patent/CN113219489B/en
Publication of CN113219489A publication Critical patent/CN113219489A/en
Application granted granted Critical
Publication of CN113219489B publication Critical patent/CN113219489B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The application relates to a point pair determination method, a point pair determination device, a point pair determination computer device and a point pair determination storage medium for multi-line laser. The method comprises the following steps: acquiring a first laser line set in a first laser image and a second laser line set in a second laser image; the first laser line set comprises at least one first laser line, and the second laser line set comprises at least one second laser line; the first laser map and the second laser map are obtained by shooting the same scene; acquiring a first laser spot set positioned on a first laser line, and acquiring a second laser spot set positioned on a second laser line; according to the laser transformation relation set, multiple uniqueness judgment is carried out on the first laser point set and the second laser point set, and a target point pair is obtained; and constructing according to the target point pair to obtain a three-dimensional point cloud. The method can improve the accuracy of point pairs.

Description

Point-to-point determination method, device, computer equipment and storage medium for multi-line laser
Technical Field
The present invention relates to the field of laser scanning technologies, and in particular, to a method and apparatus for determining a point pair of multiple line lasers, a computer device, and a computer readable storage medium.
Background
In laser real-time three-dimensional scanning, the determination of the laser corresponding point is important. The traditional multi-line laser point pair determining method is to extract left and right characteristic points of a laser image and obtain a matching point pair in a characteristic point matching mode. In the conventional multi-line laser point pair determination, the problem of inaccurate point pair exists.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a point pair determining method, apparatus, computer device, and storage medium for multi-line laser.
A method of point pair determination for a multi-line laser, the method comprising:
acquiring a first laser line set in a first laser image and a second laser line set in a second laser image; the first laser line set comprises at least one first laser line, and the second laser line set comprises at least one second laser line; the first laser map and the second laser map are obtained by shooting the same scene;
acquiring a first laser spot set positioned on a first laser line, and acquiring a second laser spot set positioned on a second laser line;
according to the laser transformation relation set, multiple uniqueness judgment is carried out on the first laser point set and the second laser point set, and a target point pair is obtained;
And constructing according to the target point pair to obtain a three-dimensional point cloud.
A point pair determining apparatus for a multi-line laser, the apparatus comprising:
the laser line acquisition module is used for acquiring a first laser line set in the first laser graph and a second laser line set in the second laser graph; the first laser line set comprises at least one first laser line, and the second laser line set comprises at least one second laser line; the first laser map and the second laser map are obtained by shooting the same scene;
a laser point acquisition module for acquiring a first laser point set positioned on a first laser line and acquiring a second laser point set positioned on a second laser line;
the multiple uniqueness judging module is used for carrying out multiple uniqueness judgment on the first laser point set and the second laser point set according to the laser transformation relation set to obtain a target point pair;
and the construction module is used for constructing according to the target point pair to obtain a three-dimensional point cloud.
A computer device comprising a memory storing a computer program and a processor implementing method embodiments of a point-to-point determination method for a multi-line laser when the computer program is executed.
A computer readable storage medium having stored thereon a computer program which when executed by a processor implements method embodiments of a point-to-point determination method of a multi-line laser.
The method, the device, the computer equipment and the storage medium for determining the point pairs of the multi-line laser acquire a first laser line set in a first laser image and a second laser line set in a second laser image, acquire a first laser point set positioned on the first laser line and acquire a second laser point set positioned on the second laser line, so that enough points can be acquired; according to the laser transformation relation set, multiple uniqueness judgment is carried out on the first laser point set and the second laser point set to obtain target point pairs, and three-dimensional point cloud is obtained by constructing according to the target point pairs, so that the unique corresponding point pairs can be obtained, stable high speed can be kept, more corresponding points are reserved, the accuracy of the obtained target point pairs is improved, and therefore the reconstructed three-dimensional point cloud is more accurate, good in instantaneity and wide in practicability.
Drawings
FIG. 1 is a diagram of an application environment for multi-line laser scanning in one embodiment;
FIG. 2 is a flow diagram of a method of point pair determination for a multi-line laser in one embodiment;
FIG. 3 is a schematic diagram of a first laser diagram in one embodiment;
FIG. 4 is a flow diagram of obtaining one-to-one candidate point pairs in one embodiment;
FIG. 5 is a block diagram of a point pair determination device of a multi-line laser in one embodiment;
fig. 6 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without any inventive effort, are intended to be within the scope of the invention.
It should be noted that, in the embodiments of the present invention, all directional indicators (such as up, down, left, right, front, and rear … …) are merely used to explain the relative positional relationship, movement conditions, and the like between the components in a specific posture (as shown in the drawings), if the specific posture is changed, the directional indicators correspondingly change, and the connection may be a direct connection or an indirect connection.
Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
In one embodiment, as shown in FIG. 1, a diagram of an application environment for multi-line laser scanning in one embodiment is shown. Included in fig. 1 are a first image pickup apparatus 110, a second image pickup apparatus 120, a laser emitter 130, an object 140, and a computer apparatus 150. The first image pickup apparatus 110, the second image pickup apparatus 120, and the laser emitter 130 are connected to the computer apparatus 150, respectively. The first image capturing apparatus 110 and the second image capturing apparatus 120 are not the same image capturing apparatus, and the first image capturing apparatus 110 and the second image capturing apparatus 120 are located at different positions. The laser emitter 130 emits a plurality of laser lights to the object 140, scans the entire object 140, photographs the object 140 while scanning, photographs a first laser light pattern by the first image pickup apparatus 110, and photographs a second laser light pattern by the second image pickup apparatus 120. The computer device 150 acquires the first laser map and the second laser map in real time, and performs three-dimensional point cloud construction based on the first laser map and the second laser map. It is understood that the number of image pickup apparatuses can be configured as required. After the multi-line laser emitted by the laser emitter is reflected by the object, the number of the laser lines in the first laser image may be different from the number of the laser lines in the second laser image, and the computer device does not know which laser line applies which laser transformation relation, nor which laser line in the first laser image corresponds to which laser line in the second laser image, so that the point pair determining method of the multi-line laser in the embodiment of the application is provided.
It will be appreciated that although a plurality of lasers are emitted in the laser emitters, there may be only one visible laser line in the first and second laser maps. The laser map containing only one laser line is also suitable for the point pair determination method of the multi-line laser in the embodiment of the application.
In one embodiment, as shown in fig. 2, a flow chart of a method for determining a point pair of a multi-line laser in one embodiment includes steps 202 to 208:
step 202, acquiring a first laser line set in a first laser image and a second laser line set in a second laser image; the first laser line set comprises at least one first laser line, and the second laser line set comprises at least one second laser line; the first laser image and the second laser image are obtained by shooting the same scene.
The first laser map and the second laser map are laser maps at different positions for shooting the same scene. The first laser map and the second laser map are not the same image. The first laser pattern may include a plurality of first laser lines, and the second laser pattern may include a plurality of second laser lines.
Specifically, the computer device acquires the first laser map from the first image capturing device in real time, and acquires the second laser map from the second image capturing device in real time. The computer device may extract the first laser line in the first laser map using a Steger algorithm. The computer device may extract the second laser line in the second laser map using a Steger algorithm. Fig. 3 is a schematic diagram of a first laser diagram in one embodiment. A first laser line 310 is included in fig. 3.
The laser line may be a laser centerline. The laser center line is a line of the laser center. I.e. the first laser line may be a first laser centre line and the second laser line may be a second laser centre line. And the laser line may be a straight line or a curved line.
Step 204, a first set of laser points located on a first laser line is acquired, and a second set of laser points located on a second laser line is acquired.
The first laser spot set may include each first laser spot located on the first laser line, or may be a laser spot corresponding to a positive integer value of the first coordinate value located on the first laser line. The second laser spot set may include each second laser spot located on the second laser line, or may be a laser spot corresponding to the first coordinate value located on the second laser line being a positive integer value. In a computer device, the laser spot may be represented by laser spot coordinates.
Specifically, a computer device obtains a first set of laser points located on a first laser centerline and obtains a second set of laser points located on a second laser line.
And 206, performing multiple uniqueness judgment on the first laser point set and the second laser point set according to the laser transformation relation set to obtain a target point pair.
Before three-dimensional scanning, the laser transformation relation set is calibrated. The laser conversion relationship refers to a conversion relationship corresponding to a laser line. The laser conversion relation set includes laser conversion relations corresponding to the laser lines. That is, the laser transformation relation set used in the known laser graph, if the laser transformation relation H is needed 1 Relationship H of laser conversion 2 Relationship H of laser conversion 3 And the like are not limited thereto.
The laser transformation relationship includes at least one of a first laser transformation relationship and a second laser transformation relationship. The first laser mapping relationship is used to project points in the first laser map into the second laser map. The second laser mapping relationship is used to project points in the second laser map into the first laser map.
Multiple uniqueness decisions refer to two or more uniqueness decisions. The multiple uniqueness decisions include a correspondence point uniqueness decision and a laser transformation relationship uniqueness decision. The principle on which the correspondence point uniqueness determination is based is that one point in the first laser map has and only one correspondence point in the second laser map, and similarly, one point in the second laser map has and only one correspondence point in the first laser map. The principle on which the uniqueness of the laser transformation relationship is judged comprises that the laser transformation relationship corresponding to each laser line in the laser graph is different, and the laser transformation relationship of one laser line should be unique.
The target point pair refers to a point pair used to construct a three-dimensional point cloud. One point in the target point pair is located in the first laser plot and the other point in the second laser plot. And a three-dimensional point cloud can be constructed through the target point pairs. The laser points in the target point pair are unique and non-repeatable.
Specifically, the computer device performs multiple uniqueness determination on the first laser point set and the second laser point set according to a laser transformation relation set required by the conversion of the first laser map and the second laser map, and obtains a target point pair. The computer device may also obtain a target laser transformation relationship for each corresponding target point.
And step 208, constructing according to the target point pair to obtain a three-dimensional point cloud.
Specifically, the computer equipment is constructed according to the target point pair based on the binocular vision principle to obtain a three-dimensional point cloud.
In the point pair determining method of multi-line laser in the embodiment, a first laser line set in a first laser image and a second laser line set in a second laser image are obtained, a first laser point set positioned on the first laser line is obtained, and a second laser point set positioned on the second laser line is obtained, so that enough points can be obtained; according to the laser transformation relation set, multiple uniqueness judgment is carried out on the first laser point set and the second laser point set to obtain target point pairs, and three-dimensional point cloud is obtained by constructing according to the target point pairs, so that the unique corresponding point pairs can be obtained, stable high speed can be kept, more corresponding points are reserved, the accuracy of the obtained target point pairs is improved, and therefore the reconstructed three-dimensional point cloud is more accurate, good in instantaneity and wide in practicability.
In one embodiment, performing multiple uniqueness determination on the first laser point set and the second laser point set according to a laser transformation relation set to obtain a target point pair, including:
according to the laser transformation relation set, carrying out corresponding point uniqueness judgment on the first laser point set and the second laser point set to obtain one-to-one candidate point pairs corresponding to the first laser map and the second laser map;
and carrying out laser transformation relation uniqueness judgment on the one-to-one point pairs according to the laser transformation relation corresponding to the one-to-one candidate point pairs to obtain target point pairs.
The corresponding point uniqueness determination comprises a first candidate point pair determination and a second candidate point pair determination, wherein the first candidate point pair determination is used for determining candidate laser points in the second laser graph corresponding to the first laser point, so that the first candidate point pair is formed. The second candidate point pair determination is used for determining the candidate laser points in the first laser map corresponding to the second laser point, thereby forming a second candidate point pair.
A one-to-one candidate point pair refers to one and only one corresponding point in the first and second laser maps. And one-to-one candidate point pairs correspond to laser transformation relations.
Specifically, the computer equipment respectively transforms the first laser point set and the second laser point set according to the laser transformation relation set, and determines a first candidate point pair corresponding to the first laser point and a second candidate point pair corresponding to the second laser point; and screening the first candidate point pair and the second candidate point pair to obtain a one-to-one candidate point pair corresponding to the first laser map and the second laser map.
And according to the laser transformation relationship corresponding to the one-to-one candidate point pair, the computer equipment carries out laser transformation relationship uniqueness judgment on the one-to-one candidate point pair to obtain the target point pair.
Optionally, the computer device screens out a target point pair whose laser transformation relationship is unique under the condition that the first coordinate values are the same from the one-to-one candidate point pair according to the laser transformation relationship corresponding to the one-to-one candidate point pair.
Optionally, the computer device screens out the target point pair corresponding to the unique corresponding laser transformation relationship on the same laser line from the one-to-one candidate point pair according to the laser transformation relationship corresponding to the one-to-one candidate point pair.
In this embodiment, based on the principle that one point in the first laser map has and only one corresponding point in the second laser map, a one-to-one candidate point pair in which the first laser map and the second laser map correspond to each other can be obtained by the corresponding point uniqueness determination; and based on the uniqueness of the laser transformation relationship, the uniqueness of the one-to-one candidate point pairs is judged, more error points are deleted, more point pairs meeting the construction conditions can be screened out, and the processing efficiency is high.
In one embodiment, the set of laser transforms includes a first set of laser transforms and a second set of laser transforms. As shown in fig. 4, which is a flowchart illustrating a process of obtaining one-to-one candidate point pairs in one embodiment, according to a laser transformation relation set, performing corresponding point uniqueness determination on a first laser point set and a second laser point set to obtain one-to-one candidate point pairs corresponding to the first laser map and the second laser map, and includes steps 402 to 410:
step 402, for a first laser spot in the first laser spot set, converting the first laser spot according to the first laser conversion relation set to obtain a converted first laser spot.
The laser transformation relation set comprises a first laser transformation relation set and a second laser transformation relation set. The number of transformations in the first set of laser transformations and the second set of laser transformations matches the number of laser lines in the laser map. The first laser mapping relationship refers to a mapping relationship required to map laser lines in the first laser map to the second laser map. The second laser transformation relationship refers to a transformation relationship required to map the laser lines in the second laser map to the first laser map. Each first laser line in the first laser map corresponds to a different first laser conversion relationship. For example, laser line 1 corresponds to a first laser conversion relationship H1 and laser line 2 corresponds to a second laser conversion relationship H2. Similarly, each second laser line in the second laser map corresponds to a different second laser conversion relationship.
Specifically, for each first laser spot in the first laser spot set, the first laser spot is transformed according to each first laser transformation relationship in the first laser transformation set, and transformed first laser spots are obtained. For example, the first set of laser transforms h= { H 1 ，H 2 ，H 3 ……H n First laser spot A is according to H 1 Once transformed according to H 2 Once transformed according to H 3 Once transformed … … according to H n The transformation is performed once.
Step 404, when the transformed first laser spot matches a second laser spot in the second laser spot set, the first laser spot and the matched second laser spot are used as a first candidate point pair.
Wherein one point in the first candidate pair is a first laser point and the other point is a second laser point that matches the first laser point. The first candidate point pair corresponding to one first laser point may be plural.
Specifically, the computer device matches the transformed first laser spot with a second laser spot in the second set of laser spots. The matching method specifically may be that the computer device performs difference calculation on the transformed second coordinate value of the first laser spot and the transformed second coordinate value of the second laser spot to obtain a difference value; when the difference value satisfies a difference threshold condition, it is determined that the first laser spot matches the second laser spot. In the case where the transformed first laser spot matches a second laser spot of the second set of laser spots, the computer device takes the first laser spot and the matched second laser spot as a first candidate point pair.
And step 406, for the second laser points in the second laser point set, converting the second laser points according to the second laser conversion relation set to obtain converted second laser points.
In step 408, when the transformed second laser spot matches the first laser spot in the first laser spot set, the second laser spot and the matched first laser spot are used as a second candidate point pair.
Step 410, screening the first candidate point pair and the second candidate point pair to obtain a one-to-one candidate point pair corresponding to the first laser map and the second laser map.
The first laser image and the second laser image correspond to each other, namely, only one first candidate point pair corresponding to the first laser point is provided, only one second candidate point pair corresponding to the first laser point is provided, and the first candidate point pair corresponding to the first laser point is matched with the second candidate point pair.
Specifically, the computer device deletes candidate point pairs containing a laser point many-to-one relationship and a laser point one-to-many relationship, reserves candidate point pairs of laser point one-to-one relationship corresponding to each other in the first candidate point pair and the second candidate point pair, and obtains one-to-one candidate point pairs corresponding to each other in the first laser map and the second laser map.
For example, a first laser spot L 1 The corresponding first candidate point pair has (L 1 ，R 1 ) Sum (L) 1 ，R 2 ) The corresponding second candidate point pair has (R 3 ，L 1 ) And (R) 2 ，L 1 ) Then the first laser spot L 1 And deleting all the corresponding candidate point pairs. First laser spot L 3 The corresponding first candidate point pair is only (L 3 ，R 3 ) The corresponding second candidate point pair is only (R 3 ，L 3 ) Then a one-to-one candidate point pair (L 3 ，R 3 )。
In this embodiment, the first laser point is transformed according to the first laser transformation relationship to obtain a transformed first laser point, and when the transformed first laser point is matched with a second laser point in the second laser point set, the first laser point and the matched second laser point are used as a first candidate point pair, so as to obtain a one-to-many or one-to-one point pair of the first laser map to the second laser map; transforming the second laser points according to the second laser transformation relation set to obtain transformed second laser points, and taking the second laser points and the matched first laser points as second candidate point pairs when the transformed second laser points are matched with the first laser points in the first laser point set, so that one-to-many or one-to-one point pairs of the second laser map to the first laser map are obtained; and the first laser point is arranged in the second laser map and only one point corresponds to the first laser point, so that the first candidate point pair and the second candidate point pair need to be screened, one-to-one candidate point pair corresponding to the first laser map and the second laser map is obtained, the reserved points are more, and the accuracy of point cloud construction can be improved.
In one embodiment, the first laser map and the second laser map are both maps obtained after binocular vision correction;
for a first laser point in the first laser point set, converting the first laser point according to the first laser conversion relation set to obtain a converted first laser point, including:
and (a 1) transforming the first laser points with the same first coordinate value in the first laser point set according to a first transformation relation in the first transformation relation set to obtain transformed first laser points.
The binocular vision correction is used for enabling the matched laser points in the first laser image and the second laser image to be on the same first coordinate value. Binocular vision correction is an important step in the calibration process of the camera equipment. Binocular vision correction includes binocular epipolar correction.
The first coordinate value and the second coordinate value are not the same coordinate value. For example, when the first coordinate value is a y coordinate value, the second coordinate value is an x coordinate value. It is understood that the first coordinate value and the second coordinate value may be coordinate values in other two-dimensional coordinate systems.
Specifically, for the first laser points in the first laser point set and with the same first coordinate value, according to a first transformation relation in the first transformation relation set, the computer equipment respectively transforms the first laser points with the same first coordinate value to obtain transformed first laser points.
When the transformed first laser spot matches a second laser spot in the second laser spot set, the method includes:
and (a 2) determining a corresponding first difference value according to the second coordinate value corresponding to the transformed first laser point and the second coordinate value corresponding to the second laser point positioned on the same first coordinate value.
The first difference value is used for representing the difference between the second coordinate value of the transformed first laser point and the second coordinate value corresponding to the second laser point. The difference value may be a difference value, a ratio value, or the like.
Specifically, the computer device calculates a difference between a second coordinate value corresponding to the transformed first laser spot and a second coordinate value corresponding to a second laser spot located on the same first coordinate value, and obtains a corresponding difference value.
And (a 3) taking the first laser point and the second laser point meeting the difference threshold condition as a first candidate point pair when the first difference value meets the difference threshold condition.
The difference threshold condition may be that the difference value is smaller than a preset difference value, or that the difference value is smaller than or equal to the preset difference value, or the like. The variance threshold condition may be set as desired.
Specifically, in the case where the difference value satisfies the difference threshold condition, the computer apparatus takes the first laser point and the second laser point pair satisfying the difference threshold condition as the first candidate point pair.
For example, the first laser points with the same first coordinate value can be the first laser points with the same y value, i.e. the first laser points on the same row, then the first laser of the rowThe point A is in accordance with a first laser transformation relation set H= { H 1 ，H 2 ，H 3 ……H n Obtaining a transformed first laser spot A' 1 、A’ 2 、A’ 3 ……A’ n . Taking the second laser point with the same first coordinate value as a 1 、a 2 、a 3 ……a m Transformed first laser spot A' 1 For example, then calculate A' 1 And a 1 Difference value between A' 1 And a 2 Difference value between A' 1 And a 3 Difference value … … A' 1 And a m The difference between them is A' 1 And a second laser spot a satisfying a difference threshold condition 3 As a first candidate point pair.
For a second laser point in the second laser point set, transforming the second laser point according to the second laser transformation relation set to obtain a transformed second laser point, including:
and (a 4) for the second laser points with the same first coordinate value in the second laser point set, respectively converting the second laser points with the same first coordinate value according to a second conversion relation in the second conversion relation set to obtain converted second laser points.
When the transformed second laser spot matches a first laser spot in the first laser spot set, the second laser spot and the matched first laser spot are used as a second candidate point pair, and the method comprises the following steps:
and (a 5) calculating a corresponding second difference value according to the first coordinate value corresponding to the transformed second laser point and the first coordinate value corresponding to the first laser point positioned at the same first coordinate value.
And (a 6) taking the second laser point and the first laser point meeting the difference threshold condition as a second candidate point pair when the second difference value meets the difference threshold condition.
In this embodiment, according to the transformation relationship in the transformation relationship set, the laser points with the same first coordinate value are transformed to obtain transformed laser points, and the difference between the transformed laser points and the laser points on another graph with the same first coordinate value is calculated, so that the principle of binocular vision corrected images, that is, the first coordinate values of the corresponding points are the same, is utilized to screen the laser point pairs, so that fewer points need to be compared in the same line, and the point pair determining efficiency is improved.
In one embodiment, according to the laser transformation relationship corresponding to the one-to-one candidate point pair, performing laser transformation relationship uniqueness determination on the one-to-one point pair to obtain the target point pair, including:
According to the laser transformation relation corresponding to the one-to-one candidate point pairs, screening out reference point pairs with non-repeated laser transformation relation under the condition that the first coordinate values are the same from the one-to-one candidate point pairs;
and screening out the target point pair corresponding to the laser transformation relation uniquely corresponding to the same laser line from the reference point pair according to the laser transformation relation corresponding to the reference point pair.
The same laser line may be a first laser line, a second laser line, or both. And in particular may be adapted according to the actual configuration.
Specifically, in the multi-line laser map, the case where the corresponding laser points are obtained by the same laser line change relationship cannot occur in the laser points having the same first coordinate values. Taking the first coordinate value as the y-axis coordinate value as an illustration, the extracted laser points in the same row belong to different laser lines, so that the laser line transformation relationship is not repeated. And the computer equipment screens out reference point pairs which are not repeated in the laser transformation relationship under the condition that the first coordinate values are the same from the one-to-one candidate point pairs according to the laser transformation relationship corresponding to the one-to-one candidate point pairs.
In a multi-line laser map, the laser transformation relationship of each laser line should be unique. The only reference herein is that the laser conversion relationship required for one laser line in the first laser map to the second laser map is unique, or that the laser conversion relationship required for one laser line in the second laser map to the first laser map is unique. Then, the computer device screens out the unique corresponding laser transformation relation on the same laser line from the reference point pair according to the laser transformation relation corresponding to the reference point pair, and obtains the laser point pair corresponding to the unique corresponding laser transformation relation, thereby obtaining the target point pair.
In this embodiment, since the laser points of the same first coordinate value cannot obtain the corresponding laser points according to the same laser line change relationship, according to the laser transformation relationship corresponding to the one-to-one candidate point pairs, the reference point pairs whose laser transformation relationship is not repeated under the condition that the first coordinate values are the same are selected from the one-to-one candidate point pairs, so that some points unsuitable for point cloud construction can be eliminated; since the laser transformation relationship of the same laser line should be unique, the target point pair corresponding to the unique corresponding laser transformation relationship on the same laser line is screened out according to the laser transformation relationship corresponding to the reference point pair, and after another round of screening, a point suitable for point cloud construction is obtained, and the accuracy of point cloud construction is improved.
In one embodiment, according to the laser transformation relationship corresponding to the one-to-one candidate point pair, the method for screening the reference point pair whose laser transformation relationship is not repeated under the condition that the first coordinate values are the same from the one-to-one candidate point pair includes:
according to the laser transformation relation corresponding to the one-to-one candidate point pairs, determining point pairs with the same first coordinate values and the same corresponding laser transformation relation from the one-to-one candidate point pairs;
screening out unique point pairs with the same first coordinate value and the same corresponding laser transformation relation from the point pairs with the same first coordinate value and the same corresponding laser transformation relation;
combining the unique point pairs with one-to-one candidate point pairs except for the point pairs with the same first coordinate values and the same corresponding laser transformation relations to obtain reference point pairs with the same first coordinate values and the non-repeated laser transformation relations.
The one-to-one candidate point pairs other than the point pairs having the same first coordinate values and the same corresponding laser conversion relationships refer to one-to-one candidate point pairs whose laser conversion relationships are not repeated when the first coordinate values are the same.
Specifically, according to the laser transformation relationship corresponding to the one-to-one candidate point pair, the computer device determines, from the one-to-one candidate point pair, a point pair having the same first coordinate value and the same corresponding laser transformation relationship. The corresponding laser transformation relationship may be the same as the corresponding first laser transformation relationship, the corresponding second laser transformation relationship, or the corresponding first laser transformation relationship and the corresponding second laser transformation relationship.
And obtaining the difference value corresponding to the point pair with the same first coordinate value and the same corresponding laser transformation relation, wherein the computer equipment takes the point pair with the smallest difference value as the unique point pair with the same first coordinate value and the same corresponding laser transformation relation. The difference value may refer to a first difference value or a second difference value. The first difference value is obtained by calculating the difference between the second laser point and the transformed first laser point; the transformed first laser point is obtained by transforming the first laser point according to the corresponding laser transformation relation, wherein the first laser point and the second laser point are both laser points in the point pair with the same first coordinate value and the same corresponding laser transformation relation. The second difference value is obtained by calculating the difference between the first laser point and the transformed second laser point; the transformed second laser point is obtained by transforming the second laser point according to the corresponding laser transformation relation, wherein the first laser point and the second laser point are both laser points in the point pair with the same first coordinate value and the same corresponding laser transformation relation.
The computer equipment combines the unique point pairs and one-to-one candidate point pairs except for the point pairs with the same first coordinate values and the corresponding laser transformation relations, and obtains the reference point pairs with the non-repeated laser transformation relations under the condition that the first coordinate values are the same.
In this embodiment, according to the laser transformation relationship corresponding to the one-to-one candidate point pair, the point pair with the same first coordinate value and the same corresponding laser transformation relationship is determined from the one-to-one candidate point pair, that is, the point pair with the same laser transformation relationship in the same row or the same column is determined, only the unique point pair with the same first coordinate value and the same corresponding laser transformation relationship is reserved, and some error points are eliminated, so that the accuracy of point cloud construction is improved.
In one embodiment, according to the laser transformation relationship corresponding to the reference point pair, selecting the target point pair corresponding to the laser transformation relationship corresponding to the reference on the same laser line from the reference point pair includes: determining a laser transformation relation corresponding to the reference point pair positioned on the same laser line according to the laser transformation relation corresponding to the reference point pair;
determining the maximum number of laser transformation relations on the same laser line according to the laser transformation relations corresponding to the reference point pairs on the same laser line;
and determining the target point pair according to the point pair corresponding to the maximum number of laser transformation relations.
The laser lines in the laser transformation relation corresponding to the point pairs on the same laser line can be the first laser line or the second laser line; when the first laser line is the first laser line, the corresponding laser transformation relation is the first laser transformation relation; and when the laser beam is the second laser beam, the corresponding laser conversion relation is the second laser conversion relation.
Specifically, the computer device classifies the laser transformation relationship corresponding to the reference point pair, and determines the laser transformation relationship corresponding to the reference point pair positioned on the same laser line; the computer equipment counts the number of the laser transformation relations corresponding to the reference point pairs on the same laser line according to the laser transformation relations corresponding to the reference point pairs on the same laser line, and determines the maximum number of the laser transformation relations on the same laser line according to the number of the laser transformation relations. The computer device may use the reference point pair corresponding to the maximum number of laser transformation relationships as the target point pair. Or when the maximum number meets the number threshold condition, taking the point pair corresponding to the laser transformation relation of the maximum number as the target point pair.
In this embodiment, according to the laser transformation relationship corresponding to the reference point pair, the laser transformation relationship corresponding to the reference point located on the same laser line is determined, according to the laser transformation relationship corresponding to the reference point pair located on the same laser line, the maximum number of laser transformation relationships on the same laser line is determined, and according to the reference point pair corresponding to the maximum number of laser transformation relationships, the target point pair is determined, that is, the laser transformation relationship of the point pair corresponding to the same laser line is ensured to be consistent, error points are eliminated, and the accuracy of three-dimensional point cloud construction is improved.
In one embodiment, determining the target point pair according to the reference point pair corresponding to the maximum number of laser transformation relationships includes:
determining relationship proportion occupied by the maximum number of laser transformation relationships in the laser transformation relationships on the same laser line;
and when the relation proportion meets the relation proportion threshold condition and the maximum quantity meets the quantity threshold condition, taking the point pair corresponding to the maximum quantity of laser transformation relations as the target point pair.
The relationship proportion threshold condition and the quantity threshold condition are used for judging the credibility of the maximum quantity of laser transformation relationship. The satisfaction of the relationship ratio threshold condition may specifically be greater than the relationship ratio threshold. The satisfaction of the quantity threshold condition may specifically be greater than the quantity threshold.
Specifically, the relationship proportion occupied by the laser transformation relationship of the maximum number on the same laser line is consistent with the calculation mode of the relationship proportion occupied by the computer equipment for determining the reference point pair of the maximum number on the same laser line. For example, the maximum number is 70, the number of reference point pairs is 100, and the relationship ratio is 70/100×100+=70%.
In this embodiment, since there may be an inconsistency between the laser transformation relationships corresponding to the reference point pairs on the same laser line, and the laser transformation relationships corresponding to the same laser line should be consistent, a relationship proportion occupied by the maximum number of laser transformation relationships in the laser transformation relationships on the same laser line is determined, and when the relationship proportion satisfies a relationship proportion threshold condition and the maximum number satisfies a number threshold condition, it is indicated that the reliability of the maximum number of laser transformation relationships is higher, so that the point pair corresponding to the maximum number of laser transformation relationships is used as the target point pair, and the point pair conforming to the uniqueness principle is screened, thereby improving the accuracy of the three-dimensional point cloud.
In one embodiment, determining the target point pair according to the point pair corresponding to the maximum number of laser transformation relationships includes:
when the maximum number meets the number threshold condition, transforming the point pairs positioned on the same laser line according to the maximum number of laser transformation relations, and determining a difference value corresponding to the transformed point pairs;
and taking the reference point pair which is positioned on the same laser line and the difference value of which meets the difference threshold condition as a target point pair.
Wherein the number threshold condition is a threshold range pre-stored in the computer device. The number threshold condition may be determined based on the number of pixels of the first laser map or the number of pixels of the second laser map.
Specifically, the laser conversion relationship of the maximum number corresponding to the first laser pattern will be described as an example. When the maximum number meets the number threshold condition, the computer equipment transforms the first laser points in the point pairs on the same first laser line according to the maximum number laser transformation relation corresponding to the first laser graph to obtain transformed first laser points; calculating a first difference value between the transformed first laser point and a second laser point in the pair of points located on the same first laser line; and taking the point pairs which are positioned on the same first laser line and the first difference value of which meets the difference threshold condition as target point pairs.
The maximum number of laser conversion relationships corresponding to the second laser pattern will be described as an example. When the maximum number meets the number threshold condition, the computer equipment transforms the second laser points in the point pairs on the same second laser line according to the maximum number laser transformation relation corresponding to the second laser graph to obtain transformed second laser points; calculating a second difference value between the transformed second laser point and the first laser point in the pair of points located on the same second laser line; and taking the point pair which is positioned on the same second laser line and the second difference value of which meets the difference threshold value condition as a target point pair.
In this embodiment, when the maximum number meets the number threshold condition, it is indicated that the reliability of the laser transformation relationship corresponding to the maximum number is higher, then transformation is performed according to the laser transformation relationship of the maximum number, and a difference value corresponding to the transformed point pair is determined, so that it can be determined whether the point pairs are matched when the laser transformation relationship is selected, and when the difference value is smaller than the difference threshold condition, it is indicated that the point pairs are matched with each other, so that the point pair can be used as the target point pair. The accuracy of the target point pairs can be ensured by screening the number of the point pairs on the same laser line and carrying out differential screening according to the laser transformation relation, so that the accuracy of the three-dimensional point cloud is improved.
In one embodiment, constructing according to the target point pair to obtain a three-dimensional point cloud includes:
and (b 1) when error laser lines which are intersected with first coordinate values contained in the laser lines corresponding to the target point pairs in the same laser graph and have the same laser transformation relationship exist, determining average difference values respectively corresponding to the laser lines corresponding to the target point pairs and the error laser lines.
The first coordinate values included in the target point pair corresponding to the laser line may refer to all the first coordinate values included in the laser line.
The average difference value refers to the value of the average difference for each target point pair of one laser line. The average difference value is calculated according to the difference value corresponding to the target point pair on the laser line and the number of the target point pairs. For example, the average difference value may be a logarithmic average. The logarithmic average is obtained by dividing the sum of the difference values corresponding to the target point pairs on the laser line by the number of the target point pairs and the natural logarithm of the number of the target point pairs. The average difference value may also be the sum of the difference values corresponding to the pairs of target points on the laser line divided by the number of pairs of target points.
Specifically, the computer device obtains the target laser transformation relationship corresponding to the target point pair when obtaining the target point pair. When error laser lines which are intersected with a first coordinate value contained in the laser line corresponding to the target point pair in the same laser graph and have the same laser change relation exist, obtaining a difference value corresponding to the target point pair, and calculating to obtain an average difference value according to the difference value corresponding to the target point pair and the number of the target point pairs on the laser line; and obtaining a difference value corresponding to the target point pair on the error laser line, and calculating to obtain an average difference value according to the sum of the difference values corresponding to the target point pair on the error laser line and the number of the target point pairs on the error laser line.
And (b 2) obtaining a candidate laser transformation relation corresponding to the laser line with the largest average difference value.
The laser line with the largest average difference value represents the largest average value of the difference values calculated after conversion according to the same laser conversion relation.
The candidate laser transforms may be the next largest number of laser transforms. For example, the laser conversion relationship with the largest number of laser lines 1 is H 1 The laser transformation relation of the number of times is H 2 . Then the candidate laser transformation relationship is H 2 . Alternatively, the computer device may select, as the candidate laser transformation relationship, a number of laser transformation relationships that are the next largest from among the laser transformation relationships whose average difference values satisfy the difference threshold.
And (b 3) correcting the target point pair corresponding to the laser line with the largest average difference value according to the candidate laser transformation relation to obtain the point pair to be constructed.
And (b 4) constructing according to the point pair to be constructed and the target point pair to obtain the three-dimensional point cloud.
In this embodiment, when there are laser lines having intersection and identical laser transformation relationship with the first coordinate value included in the laser line corresponding to the target point pair in the same laser image, it is indicated that at least two laser lines having identical laser transformation relationship appear in the same image, and there is an error in the target point pair, so that the average difference value corresponding to the laser line corresponding to the target point pair and the error laser line respectively is determined, the candidate laser transformation relationship corresponding to the laser line having the largest average difference value is corrected, the target point pair is obtained, the point pair to be constructed is constructed according to the point pair to be constructed and the target point pair, the three-dimensional point cloud is obtained, the final correction can be performed on the target point pair after the uniqueness determination, and the accuracy of the obtained target point pair is improved.
In one embodiment, correcting the target point pair corresponding to the laser line with the largest average difference value according to the candidate laser transformation relationship to obtain a point pair to be constructed, including:
transforming the target point pair corresponding to the laser line with the largest average difference value according to the candidate laser transformation relation, and determining the difference value of the transformed point pair;
and taking the point pair with the difference value meeting the difference threshold condition as a point pair to be constructed.
It is understood that the candidate laser transformation relationship may be the first candidate laser transformation relationship or the second candidate laser transformation relationship. The first candidate laser transformation relationship is used to project points in the first laser map into the second laser map. The second candidate laser transformation relationship is used to project points in the second laser map into the first laser map.
Specifically, taking a candidate laser transformation relationship as a first candidate laser transformation relationship as an example, transforming a first laser point in a target point pair corresponding to a first laser line with the largest average difference value according to the first candidate laser transformation relationship, and obtaining a transformed first laser point; and calculating a difference value between the transformed first laser point and a second laser point in the target point pair corresponding to the first laser line with the maximum average difference value, and taking a point pair with the difference value meeting a difference threshold condition as a point pair to be constructed.
In this embodiment, according to the candidate laser transformation relationship, the target point pair corresponding to the laser line with the largest average difference value is transformed, the difference value of the transformed point pair is determined, and the point pair with the difference value meeting the difference threshold condition is used as the point pair to be constructed, so that the target point pair obtained through the uniqueness judgment and screening can be corrected, and the accuracy of the obtained three-dimensional point cloud is improved.
In one embodiment, acquiring a first set of laser points located on a first laser line includes:
when a first coordinate value between two adjacent first laser points on a first laser line spans a preset number of positive integer values, acquiring the spanned first positive integer values, and determining a second coordinate value corresponding to the first positive integer values;
correspondingly storing a plurality of first positive integer values and second coordinate values corresponding to the first positive integer values to obtain a first laser point set;
acquiring a second set of laser points located on a second laser line, comprising:
when a first coordinate value between two adjacent second laser points on the second laser line spans a preset number of positive integer values, acquiring the crossed second positive integer values, and determining a second coordinate value corresponding to the second positive integer values;
And correspondingly storing a plurality of second positive integer values and second coordinate values corresponding to the second positive integer values to obtain a second laser point set.
Wherein, since the laser points extracted by the Steger algorithm differ by not more than 3 pixel points, the preset number may be 0, 1 or 2. The coordinate point composed of the first positive integer value and the corresponding second coordinate value is positioned on the first laser line. And the coordinate point formed by the second positive integer value and the corresponding second coordinate value is positioned on the second laser line. The second coordinate values respectively corresponding to the first positive integer value and the second positive integer value may be sub-pixel coordinate values.
Specifically, when a first coordinate value between two adjacent first laser points on a first laser line spans a preset number of positive integer values, the computer equipment obtains the spanned first positive integer values, and performs interpolation or fitting and the like according to the coordinates of the two adjacent first laser points to determine a second coordinate value corresponding to the first positive integer values. The computer device stores a plurality of first positive integer values on the first laser line and the first positive integer values correspondingly to obtain a first laser point set.
When the first coordinate value between two adjacent second laser points on the second laser line spans a preset number of positive integer values, the spanned second positive integer values are obtained, interpolation or fitting is carried out according to the coordinates of the two adjacent second laser points, and the second coordinate value corresponding to the second positive integer values is determined. The computer device stores a plurality of second positive integer values on the second laser line and the second positive integer values correspondingly to obtain a second laser point set.
For example, two adjacent points L 1 And L 2 And (2) carrying out linear interpolation according to (5,5.2) and (7,6.4) by adopting a linear interpolation method to obtain a second coordinate value corresponding to a second positive integer value, wherein the first coordinate value of A is 5.2, the first coordinate value of B is 6.4, and the spanned positive integer value is 6.
In this embodiment, the expression form of the first laser spot set may be a first laser interpolation matrix, and the expression form of the second laser spot set may be a second laser interpolation matrix. The computer device may apply for a space corresponding to the size of the first laser image and a space corresponding to the size of the second laser image, where the elements are empty, for recording the first laser interpolation matrix and the second laser interpolation matrix, respectively. The rows of the matrix in the empty set matrix space are the rows of the image and the element initialization of the matrix is empty. And traversing all the first laser points of each first laser line by the computer equipment, calculating second coordinate values corresponding to the first positive integer values by utilizing linear interpolation when the first coordinate values between two adjacent first laser points span 1 or 2 first positive integer values, and then putting the second coordinate values into a first laser interpolation matrix. And (3) carrying out linear interpolation on the ordinate between two adjacent points on each laser line segment to obtain an integer ordinate and a subpixel abscissa, and filling the corresponding interpolated subpixel abscissa into a row (ordinate) corresponding to the matrix space to obtain the laser matrix.
Similarly, the computer device traverses all the second laser points of each second laser line, and when the first coordinate value between two adjacent second laser points spans 1 or 2 second positive integer values, the second coordinate values corresponding to the second positive integer values are calculated by utilizing linear interpolation and then put into a second laser interpolation matrix.
In general, the first laser image and the second laser image after the binocular vision calibration are actually the same in center position of the pixel point, for example, the integral parts of the y-axis coordinate values are the same, however, the laser point extracted from the laser line is a sub-pixel point, so that a certain error exists in a manner of performing pixel point matching only through the sub-pixel value. In this embodiment, when a first coordinate value between two adjacent laser points on a laser line spans a preset number of positive integer values, the spanned positive integer values are obtained, a second coordinate value corresponding to the positive integer values is determined, and the plurality of positive integer values and the second coordinate values corresponding to the positive integer values are stored correspondingly, so that multiple uniqueness determination can be performed based on more accurate laser points, the obtained point pairs are more accurate, and the obtained three-dimensional point cloud is more accurate.
In one embodiment, a method for determining a point pair of a multi-line laser includes:
and (c 1) acquiring a first laser line set in the first laser graph and a second laser line set in the second laser graph. The first laser line set comprises at least one first laser line, and the second laser line set comprises at least one second laser line. The first laser image and the second laser image are obtained by shooting the same scene.
And (c 2) when the first coordinate values between two adjacent first laser points on the first laser line cross a preset number of positive integer values, acquiring the crossed first positive integer values, and determining the second coordinate values corresponding to the first positive integer values.
And (c 3) correspondingly storing a plurality of first positive integer values and second coordinate values corresponding to the first positive integer values to obtain a first laser point set.
And (c 4) when the first coordinate value between two adjacent second laser points on the second laser line spans a preset number of positive integer values, acquiring the spanned second positive integer values, and determining the second coordinate value corresponding to the second positive integer values.
And (c 5) correspondingly storing a plurality of second positive integer values and second coordinate values corresponding to the second positive integer values to obtain a second laser point set.
And (c 6) transforming the first laser points with the same first coordinate values in the first laser point set according to the first transformation relation in the first transformation relation set to obtain transformed first laser points.
And (c 7) determining a corresponding first difference value according to the second coordinate value corresponding to the transformed first laser point and the second coordinate value corresponding to the second laser point positioned on the same first coordinate value.
And (c 8) taking the first laser point and the second laser point meeting the difference threshold condition as a first candidate point pair when the first difference value meets the difference threshold condition.
And (c 9) for the second laser points with the same first coordinate values in the second laser point set, respectively converting the second laser points with the same first coordinate values according to a second conversion relation in the second conversion relation set to obtain converted second laser points.
And (c 10) calculating a corresponding second difference value according to the first coordinate value corresponding to the transformed second laser point and the first coordinate value corresponding to the first laser point positioned at the same first coordinate value.
And (c 11) taking the second laser point and the first laser point meeting the difference threshold condition as a second candidate point pair when the second difference value meets the difference threshold condition.
And (c 12) screening the first candidate point pair and the second candidate point pair to obtain a one-to-one candidate point pair corresponding to the first laser map and the second laser map.
And (c 13) determining the point pairs with the same first coordinate values and the same corresponding laser transformation relationship from the one-to-one candidate point pairs according to the laser transformation relationship corresponding to the one-to-one candidate point pairs.
And (c 14) screening out unique point pairs with the same first coordinate values and the same corresponding laser transformation relations from the point pairs with the same first coordinate values and the same corresponding laser transformation relations.
And (c 15) combining the unique point pairs with one-to-one candidate point pairs except for the point pairs with the same first coordinate values and the same corresponding laser transformation relations to obtain reference point pairs with non-repeated laser transformation relations under the condition that the first coordinate values are the same.
And (c 16) determining the laser transformation relation corresponding to the reference point pair positioned on the same laser line according to the laser transformation relation corresponding to the reference point pair.
And (c 17) determining the maximum number of laser transformation relations on the same laser line according to the laser transformation relations corresponding to the reference point pairs on the same laser line.
And (c 18) when the maximum number meets the number threshold condition, transforming the point pairs positioned on the same laser line according to the maximum number of laser transformation relations, and determining a difference value corresponding to the transformed point pairs.
And (c 19) taking a point pair which is positioned on the same laser line and the difference value of which meets the difference threshold condition as a target point pair.
And (c 20) when error laser lines which are intersected with the first coordinate values contained in the laser lines corresponding to the target point pairs in the same laser graph and have the same laser transformation relationship exist, determining average difference values respectively corresponding to the laser lines corresponding to the target point pairs and the error laser lines.
And (c 21) obtaining a candidate laser transformation relation corresponding to the laser line with the largest average difference value.
And (c 22) transforming the target point pair corresponding to the laser line with the largest average difference value according to the candidate laser transformation relation, and determining the difference value of the transformed point pair.
And (c 23) taking the point pair with the difference value meeting the difference threshold condition as a point pair to be constructed.
And (c 24) constructing according to the point pair to be constructed and the target point pair to obtain a three-dimensional point cloud.
In the method for determining the point pairs of the multi-line laser in the embodiment, the first laser point set and the second laser point set are screened by four layers, and the screened point pairs meet four conditions: one laser spot of the left image can only correspond to a unique laser spot of the right image; one laser point of the right graph can only be corresponding to one laser point of the left graph; the laser points with the same ordinate cannot be subjected to the same laser line change relation to obtain a corresponding laser point; the corresponding relation of one laser line segment should be unique, error points can be deleted, target point pairs of the first laser image and the second laser image can be effectively screened and obtained, three-dimensional point clouds can be obtained by constructing the target point pairs, deviation of effective points and the three-dimensional point clouds can be obtained, stable high speed can be kept, more points are kept, and the real-time performance is good and the practicability is wide.
In one embodiment, a method for determining a point pair of multi-line laser is described by taking a first image capturing device as a left camera, a second image capturing device as a right camera, a first laser line as a left laser line segment, and a second laser line as a right laser line segment as an example, including:
1. obtaining calibration parameters: left camera laser line transformation relationship h= { H 1 ,H 2 ,...,H n -a right camera laser line transformation relationship;
2. the left and right cameras shoot a graph of laser lines, and the steger algorithm is utilized to extract laser center lines to obtain left and right laser line segments { l } i },{r j -and laser points on line segments;
3. setting a difference threshold Deltax, an average error threshold dx of laser line segments and an effective laser point proportion threshold s;
4. for { l ] i },{r j Performing fixed space fast interpolation, wherein the specific interpolation process is as follows:
(1) applying 2 spaces corresponding to the image size, wherein elements are empty, and respectively recording a left image laser interpolation matrix and a right image laser interpolation matrix;
(2) traversal { l ] i Each line l i If the ordinate between two adjacent points spans 1 or two positive integer values, calculating the abscissa corresponding to these integer values by linear interpolation, then putting into interpolation matrix L, and traversing { r }, similarly j Obtaining an interpolation matrix R;
5. Traversing each of the left-view interpolation matrices LLine L i R of right-hand laser matrix R corresponding to the same row i ，
Pair (L) i ,R i ) The following operations are performed:
(1) performing first re-uniqueness judgment, L i Each point of (1) corresponds to R i Only one point or no corresponding point, in particular L i According to H= { H 1 ,H 2 ,...,H n Transform into new point, if new point and R i If the difference of a certain point is smaller than the difference threshold deltax, the corresponding point is possible, and the corresponding relation and the applied H are recorded i ；
(2) The previous step obtains a left-to-right many-to-one correspondence, and a second right-to-left uniqueness determination is performed, i.e. the right point cannot be simultaneously corresponding to the left points, at this time, the corresponding point pair with the smallest difference is taken, and H is recorded simultaneously i ；
(3) The corresponding relation after the two uniqueness decisions obtained in the previous step needs to be aimed at H i Making a third uniqueness determination, i.e. L i It is not possible for two points to utilize the same H i Finding the corresponding point. Selecting the corresponding point with the smallest difference as reasonable H i Corresponding to the point pairs, the redundant point pairs corresponding to H by the small difference of the previous step i And the next smallest difference is smaller than the difference threshold Deltax, repeating (3) until L i It is not possible for two points to utilize the same H i Finding out corresponding points, wherein the difference of each group of corresponding points is the best minimum value detected by the device;
(4) all corresponding points and H obtained in the previous step i To be put on the laser line segment { l ] i The fourth uniqueness determination is performed, specifically: l (L) i The laser spot on the laser line should be applied with the same H j . The former step obtains l i All corresponding point pairs are based on H j Classifying the point pairs, selecting the class with the largest proportion, and if the proportion is larger than the proportion threshold s, considering that the most likely class is H j Class laser line, thereby extracting l i Upper utilization of H j Calculating the average difference of the corresponding points of (2), and simultaneously selecting H k Wherein H is k Acting on l i The ratio is only higher than H j Less and average difference than H j Corresponding large.
If l appears i And l k With intersection on the ordinate and using the same H j If the corresponding proportion is greater than s and the average difference is smaller than the average threshold dx, selecting the least average difference as the effective laser line segment, and the next smallest H u As the corresponding H of the remaining other laser line segment u 。
(5) Looping (4) until there is only one H for each laser line segment having an intersection on the ordinate i The relation is transformed, and the calculated values all meet the threshold value.
6. And 5, carrying out three-dimensional reconstruction on the effective line segments and the effective points obtained in the step to obtain a point cloud.
In the method for determining the point pairs of the multi-line laser in the embodiment, the first laser point set and the second laser point set are screened by four layers, and the screened point pairs meet four conditions: one laser spot of the left image can only correspond to a unique laser spot of the right image; one laser point of the right graph can only be corresponding to one laser point of the left graph; the laser points with the same ordinate cannot be subjected to the same laser line change relation to obtain a corresponding laser point; the corresponding relation of one laser line segment should be unique, error points can be deleted, target point pairs of the first laser image and the second laser image can be effectively screened and obtained, three-dimensional point clouds can be obtained by constructing the target point pairs, deviation of effective points and the three-dimensional point clouds can be obtained, stable high speed can be kept, more points are kept, and the real-time performance is good and the practicability is wide.
It should be understood that, although the steps in the flowcharts of fig. 2 and 4 are shown in sequence as indicated by the arrows, and the steps in steps (a 1) to (a 6), steps (b 1) to (b 4), and steps (c 1) to (c 24) are shown in sequence as indicated by the reference numerals, these steps are not necessarily executed in sequence as indicated by the arrows or numerals. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least a portion of the steps in fig. 2 and 4 may include a plurality of steps or stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily sequential, but may be performed in rotation or alternatively with at least a portion of the steps or stages in other steps or other steps thereof.
In one embodiment, as shown in fig. 5, which is a block diagram of a point pair determining apparatus of a multi-line laser in one embodiment, there is provided a point pair determining apparatus of a multi-line laser, including: a laser line acquisition module 502, a laser point acquisition module 504, a multiple uniqueness determination module 506, and a construction module 508, wherein:
a laser line acquisition module 502, configured to acquire a first laser line set in the first laser map and a second laser line set in the second laser map; the first laser line set comprises at least one first laser line, and the second laser line set comprises at least one second laser line; the first laser map and the second laser map are obtained by shooting the same scene;
a laser spot acquisition module 504, configured to acquire a first set of laser spots located on a first laser line, and acquire a second set of laser spots located on a second laser line;
the multiple uniqueness determination module 506 is configured to perform multiple uniqueness determination on the first laser point set and the second laser point set according to the laser transformation relation set, so as to obtain a target point pair;
the construction module 508 is configured to construct according to the target point pair to obtain a three-dimensional point cloud.
The point pair determining device of the multi-line laser in the embodiment obtains a first laser line set in the first laser image and a second laser line set in the second laser image, obtains a first laser point set positioned on the first laser line, and obtains a second laser point set positioned on the second laser line, so that enough points can be obtained; according to the laser transformation relation set, multiple uniqueness judgment is carried out on the first laser point set and the second laser point set to obtain target point pairs, and three-dimensional point cloud is obtained by constructing according to the target point pairs, so that the unique corresponding point pairs can be obtained, stable high speed can be kept, more corresponding points are reserved, the accuracy of the obtained target point pairs is improved, and therefore the reconstructed three-dimensional point cloud is more accurate, good in instantaneity and wide in practicability.
In one embodiment, the multiple uniqueness determination module 506 includes a correspondence point uniqueness determination unit and a laser transformation relationship uniqueness determination unit; the corresponding point uniqueness judging unit is used for judging the uniqueness of the corresponding points of the first laser point set and the second laser point set according to the laser transformation relation set, and obtaining one-to-one candidate point pairs of the first laser map and the second laser map, which correspond to each other;
the laser transformation relation uniqueness judging unit is used for judging the uniqueness of the laser transformation relation of the one-to-one point pair according to the laser transformation relation corresponding to the one-to-one candidate point pair, and obtaining the target point pair.
In this embodiment, based on the principle that one point in the first laser map has and only one corresponding point in the second laser map, a one-to-one candidate point pair in which the first laser map and the second laser map correspond to each other can be obtained by the corresponding point uniqueness determination; and based on the uniqueness of the laser transformation relationship, the uniqueness of the one-to-one candidate point pairs is judged, more error points are deleted, more point pairs meeting the construction conditions can be screened out, and the processing efficiency is high.
In one embodiment, the set of laser transforms includes a first set of laser transforms and a second set of laser transforms. The corresponding point uniqueness judging unit is used for converting the first laser points in the first laser point set according to the first laser conversion relation set to obtain converted first laser points; when the transformed first laser point is matched with a second laser point in the second laser point set, the first laser point and the matched second laser point are used as a first candidate point pair; transforming the second laser points according to the second laser transformation relation set for the second laser points in the second laser point set to obtain transformed second laser points; when the transformed second laser point is matched with the first laser point in the first laser point set, the second laser point and the matched first laser point are used as a second candidate point pair; and screening the first candidate point pair and the second candidate point pair to obtain a one-to-one candidate point pair corresponding to the first laser map and the second laser map.
In this embodiment, the first laser point is transformed according to the first laser transformation relationship to obtain a transformed first laser point, and when the transformed first laser point is matched with a second laser point in the second laser point set, the first laser point and the matched second laser point are used as a first candidate point pair, so as to obtain a one-to-many or one-to-one point pair of the first laser map to the second laser map; transforming the second laser points according to the second laser transformation relation set to obtain transformed second laser points, and taking the second laser points and the matched first laser points as second candidate point pairs when the transformed second laser points are matched with the first laser points in the first laser point set, so that one-to-many or one-to-one point pairs of the second laser map to the first laser map are obtained; and the first laser point is arranged in the second laser map and only one point corresponds to the first laser point, so that the first candidate point pair and the second candidate point pair need to be screened, one-to-one candidate point pair corresponding to the first laser map and the second laser map is obtained, the reserved points are more, and the accuracy of point cloud construction can be improved.
In one embodiment, the first laser map and the second laser map are each a map obtained after binocular vision correction. The corresponding point uniqueness judging unit is used for respectively converting the first laser points of the same first coordinate value points in the first laser point set according to a first conversion relation in the first conversion relation set to obtain converted first laser points; determining a corresponding first difference value according to a second coordinate value corresponding to the transformed first laser point and a second coordinate value corresponding to a second laser point positioned on the same first coordinate value; in the case that the first difference value meets the difference threshold condition, taking the first laser point and the second laser point meeting the difference threshold condition as a first candidate point pair; for the second laser points with the same first coordinate value in the second laser point set, respectively converting the second laser points with the same first coordinate value according to a second conversion relation in a second conversion relation set to obtain converted second laser points; calculating a corresponding second difference value according to the first coordinate value corresponding to the transformed second laser point and the first coordinate value corresponding to the first laser point positioned at the same first coordinate value; in the case where the second difference value satisfies the difference threshold condition, the second laser point and the first laser point satisfying the difference threshold condition are taken as a second candidate point pair.
In this embodiment, according to the transformation relationship in the transformation relationship set, the laser points with the same first coordinate value are transformed to obtain transformed laser points, and the difference between the transformed laser points and the laser points on another graph with the same first coordinate value is calculated, so that the principle of binocular vision corrected images, that is, the first coordinate values of the corresponding points are the same, is utilized to screen the laser point pairs, so that fewer points need to be compared in the same line, and the point pair determining efficiency is improved.
In one embodiment, the laser transformation relationship uniqueness determination unit is configured to screen out a reference point pair whose laser transformation relationship is not repeated under the condition that the first coordinate values are the same from the one-to-one candidate point pair according to the laser transformation relationship corresponding to the one-to-one candidate point pair;
and screening out the target point pair corresponding to the laser transformation relation uniquely corresponding to the same laser line from the reference point pair according to the laser transformation relation corresponding to the reference point pair.
In this embodiment, since the laser points of the same first coordinate value cannot obtain the corresponding laser points according to the same laser line change relationship, according to the laser transformation relationship corresponding to the one-to-one candidate point pairs, the reference point pairs whose laser transformation relationship is not repeated under the condition that the first coordinate values are the same are selected from the one-to-one candidate point pairs, so that some points unsuitable for point cloud construction can be eliminated; since the laser transformation relationship of the same laser line should be unique, the target point pair corresponding to the unique corresponding laser transformation relationship on the same laser line is screened out according to the laser transformation relationship corresponding to the reference point pair, and after another round of screening, a point suitable for point cloud construction is obtained, and the accuracy of point cloud construction is improved.
In one embodiment, the laser transformation relationship uniqueness determination unit is configured to determine, from one-to-one candidate point pairs, a point pair having the same first coordinate value and the same corresponding laser transformation relationship according to the laser transformation relationship corresponding to the one-to-one candidate point pair;
screening out unique point pairs with the same first coordinate value and the same corresponding laser transformation relation from the point pairs with the same first coordinate value and the same corresponding laser transformation relation;
combining the unique point pairs with one-to-one candidate point pairs except for the point pairs with the same first coordinate values and the same corresponding laser transformation relations to obtain reference point pairs with the same first coordinate values and the non-repeated laser transformation relations.
In this embodiment, according to the laser transformation relationship corresponding to the one-to-one candidate point pair, the point pair with the same first coordinate value and the same corresponding laser transformation relationship is determined from the one-to-one candidate point pair, that is, the point pair with the same laser transformation relationship in the same row or the same column is determined, only the unique point pair with the same first coordinate value and the same corresponding laser transformation relationship is reserved, and some error points are eliminated, so that the accuracy of point cloud construction is improved.
In one embodiment, the laser transformation relationship uniqueness determination unit is configured to determine, according to the laser transformation relationship corresponding to the reference point pair, a laser transformation relationship corresponding to the reference point pair located on the same laser line;
determining the maximum number of laser transformation relations on the same laser line according to the laser transformation relations corresponding to the reference point pairs on the same laser line;
and determining the target point pair according to the point pair corresponding to the maximum number of laser transformation relations.
In this embodiment, according to the laser transformation relationship corresponding to the reference point pair, the laser transformation relationship corresponding to the reference point located on the same laser line is determined, according to the laser transformation relationship corresponding to the reference point pair located on the same laser line, the maximum number of laser transformation relationships on the same laser line is determined, and according to the reference point pair corresponding to the maximum number of laser transformation relationships, the target point pair is determined, that is, the laser transformation relationship of the point pair corresponding to the same laser line is ensured to be consistent, error points are eliminated, and the accuracy of three-dimensional point cloud construction is improved.
In one embodiment, the laser transformation relationship uniqueness determination unit is further configured to determine a relationship proportion occupied by the laser transformation relationship of the maximum number of laser transformation relationships on the same laser line;
And when the relation proportion meets the relation proportion threshold condition and the maximum quantity meets the quantity threshold condition, taking the point pair corresponding to the maximum quantity of laser transformation relations as the target point pair.
In this embodiment, since there may be an inconsistency between the laser transformation relationships corresponding to the reference point pairs on the same laser line, and the laser transformation relationships corresponding to the same laser line should be consistent, a relationship proportion occupied by the maximum number of laser transformation relationships in the laser transformation relationships on the same laser line is determined, and when the relationship proportion satisfies a relationship proportion threshold condition and the maximum number satisfies a number threshold condition, it is indicated that the reliability of the maximum number of laser transformation relationships is higher, so that the point pair corresponding to the maximum number of laser transformation relationships is used as the target point pair, and the point pair conforming to the uniqueness principle is screened, thereby improving the accuracy of the three-dimensional point cloud.
In one embodiment, the laser transformation relationship uniqueness determination unit is further configured to transform the point pairs located on the same laser line according to the maximum number of laser transformation relationships when the maximum number meets the number threshold condition, and determine a difference value corresponding to the transformed point pairs;
And taking the reference point pair which is positioned on the same laser line and the difference value of which meets the difference threshold condition as a target point pair.
In this embodiment, when the maximum number meets the number threshold condition, it is indicated that the reliability of the laser transformation relationship corresponding to the maximum number is higher, then transformation is performed according to the laser transformation relationship of the maximum number, and a difference value corresponding to the transformed point pair is determined, so that it can be determined whether the point pairs are matched when the laser transformation relationship is selected, and when the difference value is smaller than the difference threshold condition, it is indicated that the point pairs are matched with each other, so that the point pair can be used as the target point pair. The accuracy of the target point pairs can be ensured by screening the number of the point pairs on the same laser line and carrying out differential screening according to the laser transformation relation, so that the accuracy of the three-dimensional point cloud is improved.
In one embodiment, the construction module 508 is configured to determine, when there is an error laser line that has an intersection with a first coordinate value included in a laser line corresponding to the target point pair and has the same laser transformation relationship, average difference values corresponding to the laser line corresponding to the target point pair and the error laser line respectively; obtaining a candidate laser transformation relation corresponding to the laser line with the largest average difference value; correcting the target point pair corresponding to the laser line with the largest average difference value according to the candidate laser transformation relation to obtain a point pair to be constructed; and constructing according to the point pair to be constructed and the target point pair to obtain the three-dimensional point cloud.
In this embodiment, when there are laser lines having intersection and identical laser transformation relationship with the first coordinate value included in the laser line corresponding to the target point pair in the same laser image, it is indicated that at least two laser lines having identical laser transformation relationship appear in the same image, and there is an error in the target point pair, so that the average difference value corresponding to the laser line corresponding to the target point pair and the error laser line respectively is determined, the candidate laser transformation relationship corresponding to the laser line having the largest average difference value is corrected, the target point pair is obtained, the point pair to be constructed is constructed according to the point pair to be constructed and the target point pair, the three-dimensional point cloud is obtained, the final correction can be performed on the target point pair after the uniqueness determination, and the accuracy of the obtained target point pair is improved.
In one embodiment, the construction module 508 is further configured to transform, according to the candidate laser transformation relationship, the target point pair corresponding to the laser line with the largest average difference value, and determine the difference value of the transformed point pair; and taking the point pair with the difference value meeting the difference threshold condition as a point pair to be constructed.
In this embodiment, according to the candidate laser transformation relationship, the target point pair corresponding to the laser line with the largest average difference value is transformed, the difference value of the transformed point pair is determined, and the point pair with the difference value meeting the difference threshold condition is used as the point pair to be constructed, so that the target point pair obtained through the uniqueness judgment and screening can be corrected, and the accuracy of the obtained three-dimensional point cloud is improved.
In one embodiment, the laser point obtaining module 504 is configured to obtain a first positive integer value spanned when a first coordinate value between two adjacent first laser points on the first laser line spans a preset number of positive integer values, and determine a second coordinate value corresponding to the first positive integer value;
correspondingly storing a plurality of first positive integer values and second coordinate values corresponding to the first positive integer values to obtain a first laser point set;
when a first coordinate value between two adjacent second laser points on the second laser line spans a preset number of positive integer values, acquiring the crossed second positive integer values, and determining a second coordinate value corresponding to the second positive integer values;
and correspondingly storing a plurality of second positive integer values and second coordinate values corresponding to the second positive integer values to obtain a second laser point set.
In general, the first laser image and the second laser image after the binocular vision calibration are actually the same in center position of the pixel point, for example, the integral parts of the y-axis coordinate values are the same, however, the laser point extracted from the laser line is a sub-pixel point, so that a certain error exists in a manner of performing pixel point matching only through the sub-pixel value. In this embodiment, when a first coordinate value between two adjacent laser points on a laser line spans a preset number of positive integer values, the spanned positive integer values are obtained, a second coordinate value corresponding to the positive integer values is determined, and the plurality of positive integer values and the second coordinate values corresponding to the positive integer values are stored correspondingly, so that multiple uniqueness determination can be performed based on more accurate laser points, the obtained point pairs are more accurate, and the obtained three-dimensional point cloud is more accurate.
For specific limitations of the point pair determining device for the multi-line laser, reference may be made to the above limitation of the point pair determining method for the multi-line laser, and no further description is given here. The respective modules in the point pair determining apparatus of the multi-line laser described above may be implemented in whole or in part by software, hardware, and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a terminal device, and the internal structure thereof may be as shown in fig. 6. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program, when executed by a processor, implements a method for testing connectivity of pins of a chip. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in fig. 6 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, including a memory and a processor, where the memory stores a computer program, and the processor executes the computer program to implement the steps of the method embodiments for testing connectivity of pins of each chip.
In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, which when executed by a processor implements the steps of the test method embodiments of chip pin connectivity described above.
Those skilled in the art will appreciate that implementing all or part of the above described methods in accordance with the embodiments may be accomplished by way of a computer program stored in a non-transitory computer readable storage medium, which when executed may comprise the steps of the above described embodiments of the methods. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile memory can include random access memory (Ramdom Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes using the descriptions and drawings of the present invention or directly or indirectly applied to other related technical fields are included in the scope of the invention.

Claims (14)

1. A method of point pair determination for a multi-line laser, the method comprising:
acquiring a first laser line set in a first laser image and a second laser line set in a second laser image; the first laser line set comprises at least one first laser line, and the second laser line set comprises at least one second laser line; the first laser map and the second laser map are obtained by shooting the same scene;
acquiring a first laser spot set positioned on a first laser line, and acquiring a second laser spot set positioned on a second laser line;
according to the laser transformation relation set, carrying out corresponding point uniqueness judgment on the first laser point set and the second laser point set to obtain one-to-one candidate point pairs of which the first laser map and the second laser map correspond to each other;
according to the laser transformation relation corresponding to the one-to-one candidate point pair, carrying out laser transformation relation uniqueness judgment on the one-to-one point pair to obtain a target point pair;
And constructing according to the target point pair to obtain a three-dimensional point cloud.
2. The method of claim 1, wherein the set of laser transformation relationships comprises a first set of laser transformation relationships and a second set of laser transformation relationships;
the step of carrying out corresponding point uniqueness judgment on the first laser point set and the second laser point set according to the laser transformation relation set to obtain one-to-one candidate point pairs corresponding to the first laser map and the second laser map, comprises the following steps:
transforming the first laser points according to the first laser transformation relation set for the first laser points in the first laser point set to obtain transformed first laser points;
when the transformed first laser point is matched with a second laser point in the second laser point set, the first laser point and the matched second laser point are used as a first candidate point pair;
transforming the second laser points according to the second laser transformation relation set for the second laser points in the second laser point set to obtain transformed second laser points;
when the transformed second laser point is matched with a first laser point in the first laser point set, the second laser point and the matched first laser point are used as a second candidate point pair;
And screening the first candidate point pair and the second candidate point pair to obtain a one-to-one candidate point pair of which the first laser map and the second laser map correspond to each other.
3. The method of claim 2, wherein the first laser map and the second laser map are each a map obtained after binocular vision correction;
the transforming the first laser point according to the first laser transformation relation set to the first laser point in the first laser point set to obtain a transformed first laser point, including:
for first laser points with the same first coordinate value in a first laser point set, respectively converting the first laser points with the same first coordinate value according to a first laser conversion relation in the first laser conversion relation set to obtain converted first laser points;
and when the transformed first laser point is matched with a second laser point in the second laser point set, using the first laser point and the matched second laser point as a first candidate point pair, including:
determining a corresponding first difference value according to a second coordinate value corresponding to the transformed first laser point and a second coordinate value corresponding to a second laser point positioned on the same first coordinate value;
Taking the first laser point and a second laser point meeting a difference threshold condition as a first candidate point pair under the condition that the first difference value meets the difference threshold condition;
the transforming the second laser point according to the second laser transformation relation set for the second laser point in the second laser point set to obtain a transformed second laser point, including:
for the second laser points with the same first coordinate value in the second laser point set, respectively converting the second laser points with the same first coordinate value according to a second laser conversion relation in the second laser conversion relation set to obtain converted second laser points;
and when the transformed second laser point is matched with the first laser point in the first laser point set, using the second laser point and the matched first laser point as a second candidate point pair, including:
calculating a corresponding second difference value according to the first coordinate value corresponding to the transformed second laser point and the first coordinate value corresponding to the first laser point positioned at the same first coordinate value;
and in the case that the second difference value meets the difference threshold condition, taking the second laser point and the first laser point meeting the difference threshold condition as a second candidate point pair.
4. The method according to claim 1, wherein the performing laser transformation relationship uniqueness determination on the one-to-one point pair according to the laser transformation relationship corresponding to the one-to-one candidate point pair to obtain the target point pair includes:
screening out reference point pairs with non-repeated laser transformation relations under the condition that the first coordinate values are the same from the one-to-one candidate point pairs according to the laser transformation relations corresponding to the one-to-one candidate point pairs;
and screening out a target point pair corresponding to the laser transformation relation uniquely corresponding to the same laser line from the reference point pair according to the laser transformation relation corresponding to the reference point pair.
5. The method of claim 4, wherein the screening out the reference point pair whose laser transformation relationship is not repeated in the case that the first coordinate values are the same from the one-to-one candidate point pair according to the laser transformation relationship corresponding to the one-to-one candidate point pair, comprises:
determining a point pair with the same first coordinate value and the same corresponding laser transformation relation from the one-to-one candidate point pair according to the laser transformation relation corresponding to the one-to-one candidate point pair;
Screening out unique point pairs with the same first coordinate value and the same corresponding laser transformation relation from the point pairs with the same first coordinate value and the same corresponding laser transformation relation;
combining the unique point pairs with one-to-one candidate point pairs except for the point pairs with the same first coordinate values and the same corresponding laser transformation relations to obtain reference point pairs with the non-repeated laser transformation relations under the condition that the first coordinate values are the same.
6. The method according to claim 4, wherein the screening out the target point pair corresponding to the laser transformation relationship uniquely corresponding to the same laser line from the reference point pair according to the laser transformation relationship corresponding to the reference point pair includes:
determining the laser transformation relation corresponding to the reference point pair positioned on the same laser line according to the laser transformation relation corresponding to the reference point pair;
determining the maximum number of laser transformation relations on the same laser line according to the laser transformation relations corresponding to the reference point pairs on the same laser line;
and determining the target point pair according to the reference point pair corresponding to the maximum number of laser transformation relations.
7. The method of claim 6, wherein the determining the target point pair from the reference point pair corresponding to the maximum number of laser transforms comprises:
Determining the relationship proportion of the maximum number of laser transformation relationships in the laser transformation relationships on the same laser line;
and when the relation proportion meets the relation proportion threshold condition and the maximum quantity meets the quantity threshold condition, taking a point pair corresponding to the maximum quantity of laser transformation relations as a target point pair.
8. The method of claim 6, wherein the determining the target point pair from the reference point pair corresponding to the maximum number of laser transforms comprises:
when the maximum number meets a number threshold condition, transforming the point pairs positioned on the same laser line according to the maximum number laser transformation relation, and determining a difference value corresponding to the transformed point pairs;
and taking a reference point pair which is positioned on the same laser line and the difference value of which meets the difference threshold condition as a target point pair.
9. The method according to any one of claims 1 to 8, wherein said constructing from said target point pairs to obtain a three-dimensional point cloud comprises:
when error laser lines which are intersected with first coordinate values contained in the laser lines corresponding to the target point pairs in the same laser graph and have the same laser transformation relationship exist, determining average difference values respectively corresponding to the laser lines corresponding to the target point pairs and the error laser lines;
Obtaining a candidate laser transformation relation corresponding to the laser line with the largest average difference value;
correcting the target point pair corresponding to the laser line with the largest average difference value according to the candidate laser transformation relation to obtain a point pair to be constructed;
and constructing according to the point pair to be constructed and the target point pair to obtain a three-dimensional point cloud.
10. The method of claim 9, wherein the correcting the target point pair corresponding to the laser line with the largest average difference value according to the candidate laser transformation relationship to obtain the point pair to be constructed includes:
transforming the target point pair corresponding to the laser line with the largest average difference value according to the candidate laser transformation relation, and determining the difference value of the transformed point pair;
and taking the point pair with the difference value meeting the difference threshold condition as a point pair to be constructed.
11. The method according to any one of claims 1 to 8, wherein the acquiring a first set of laser points located on a first laser line comprises:
when a first coordinate value between two adjacent first laser points on a first laser line spans a preset number of positive integer values, acquiring the spanned first positive integer values, and determining a second coordinate value corresponding to the first positive integer values;
Correspondingly storing a plurality of first positive integer values and the second coordinate values corresponding to the first positive integer values to obtain a first laser point set;
the acquiring a second set of laser points located on a second laser line includes:
when a first coordinate value between two adjacent second laser points on a second laser line spans a preset number of positive integer values, acquiring the crossed second positive integer values, and determining a second coordinate value corresponding to the second positive integer values;
and correspondingly storing the plurality of second positive integer values and the second coordinate values corresponding to the second positive integer values to obtain a second laser point set.
12. A point pair determining device of a multi-line laser, characterized in that the device is adapted to implement the steps of the method of any one of claims 1 to 11.
13. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 11 when the computer program is executed.
14. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 11.
CN202110524505.8A 2021-05-13 2021-05-13 Point-to-point determination method, device, computer equipment and storage medium for multi-line laser Active CN113219489B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110524505.8A CN113219489B (en) 2021-05-13 2021-05-13 Point-to-point determination method, device, computer equipment and storage medium for multi-line laser

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110524505.8A CN113219489B (en) 2021-05-13 2021-05-13 Point-to-point determination method, device, computer equipment and storage medium for multi-line laser

Publications (2)

Publication Number Publication Date
CN113219489A CN113219489A (en) 2021-08-06
CN113219489B true CN113219489B (en) 2024-04-16

Family

ID=77095680

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110524505.8A Active CN113219489B (en) 2021-05-13 2021-05-13 Point-to-point determination method, device, computer equipment and storage medium for multi-line laser

Country Status (1)

Country Link
CN (1) CN113219489B (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108151671A (en) * 2016-12-05 2018-06-12 杭州先临三维科技股份有限公司 A kind of 3 D digital imaging sensor, 3 D scanning system and its scan method
CN108288292A (en) * 2017-12-26 2018-07-17 中国科学院深圳先进技术研究院 A kind of three-dimensional rebuilding method, device and equipment
CN109493407A (en) * 2018-11-19 2019-03-19 腾讯科技（深圳）有限公司 Realize the method, apparatus and computer equipment of laser point cloud denseization
CN110573830A (en) * 2017-04-28 2019-12-13 深圳市大疆创新科技有限公司 Calibration method of laser sensor
CN110738730A (en) * 2019-10-15 2020-01-31 业成科技（成都）有限公司 Point cloud matching method and device, computer equipment and storage medium
CN111882612A (en) * 2020-07-21 2020-11-03 武汉理工大学 Vehicle multi-scale positioning method based on three-dimensional laser detection lane line

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107817503B (en) * 2016-09-14 2018-12-21 北京百度网讯科技有限公司 Motion compensation process and device applied to laser point cloud data

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108151671A (en) * 2016-12-05 2018-06-12 杭州先临三维科技股份有限公司 A kind of 3 D digital imaging sensor, 3 D scanning system and its scan method
CN110573830A (en) * 2017-04-28 2019-12-13 深圳市大疆创新科技有限公司 Calibration method of laser sensor
CN108288292A (en) * 2017-12-26 2018-07-17 中国科学院深圳先进技术研究院 A kind of three-dimensional rebuilding method, device and equipment
CN109493407A (en) * 2018-11-19 2019-03-19 腾讯科技（深圳）有限公司 Realize the method, apparatus and computer equipment of laser point cloud denseization
CN110738730A (en) * 2019-10-15 2020-01-31 业成科技（成都）有限公司 Point cloud matching method and device, computer equipment and storage medium
CN111882612A (en) * 2020-07-21 2020-11-03 武汉理工大学 Vehicle multi-scale positioning method based on three-dimensional laser detection lane line

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
基于激光与立体视觉同步数据的场景三维重建;杜宇楠;叶平;孙汉旭;;软件(第11期);1-5 *

Also Published As

Publication number Publication date
CN113219489A (en) 2021-08-06

Similar Documents

Publication Publication Date Title
JP7265639B2 (en) Point cloud merging method that identifies and retains preferred points
CN112797915A (en) Calibration method, calibration device and system of line structured light measurement system
CN112907727B (en) Calibration method, device and system of relative transformation matrix
JP2005308553A (en) Three-dimensional image measuring device and method
CN113223078B (en) Mark point matching method, device, computer equipment and storage medium
CN115239784A (en) Point cloud generation method and device, computer equipment and storage medium
CN109102524A (en) The tracking and tracking device of image characteristic point
CN116109765A (en) Three-dimensional rendering method and device for labeling objects, computer equipment and storage medium
WO2021035627A1 (en) Depth map acquisition method and device, and computer storage medium
JPWO2015005163A1 (en) High resolution image generation apparatus, high resolution image generation method, and high resolution image generation program
CN113219489B (en) Point-to-point determination method, device, computer equipment and storage medium for multi-line laser
CN117579753A (en) Three-dimensional scanning method, three-dimensional scanning device, computer equipment and storage medium
WO2021044628A1 (en) Deformation detection system and deformation detection method
CN116758206A (en) Vector data fusion rendering method and device, computer equipment and storage medium
WO2022254854A1 (en) Three-dimensional measurement device
CN116092035A (en) Lane line detection method, lane line detection device, computer equipment and storage medium
CN114322751B (en) Target measuring method, device, computer equipment and storage medium
CN113344983A (en) Multi-point cloud registration method based on plane point cloud segmentation
CN109410302B (en) Texture mapping method, texture mapping device, computer equipment and storage medium
CN111260781A (en) Method and device for generating image information and electronic equipment
CN116758239A (en) Laser line processing method, device, computer equipment and storage medium
CN115830044B (en) Image segmentation method and device, electronic equipment and storage medium
CN114937140B (en) Large-scale scene-oriented image rendering quality prediction and path planning system
WO2021199822A1 (en) Point cloud data processing device, point cloud data processing method, and program
CN113920141B (en) Rock integrity coefficient calculation method and device and storage medium

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant