CN104574282B - 点云噪声点去除系统及方法 - Google Patents
点云噪声点去除系统及方法 Download PDFInfo
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- CN104574282B CN104574282B CN201310498681.4A CN201310498681A CN104574282B CN 104574282 B CN104574282 B CN 104574282B CN 201310498681 A CN201310498681 A CN 201310498681A CN 104574282 B CN104574282 B CN 104574282B
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000010586 diagram Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000008676 import Effects 0.000 description 2
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/70—Denoising; Smoothing
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/04—Indexing scheme for image data processing or generation, in general involving 3D image data
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2210/00—Indexing scheme for image generation or computer graphics
- G06T2210/56—Particle system, point based geometry or rendering
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Graphics (AREA)
- Geometry (AREA)
- Software Systems (AREA)
- Image Processing (AREA)
- Processing Or Creating Images (AREA)
Abstract
Description
计算设备 | 1 |
点云噪声点去除系统 | 10 |
存储设备 | 11 |
处理器 | 12 |
显示设备 | 13 |
数据接收模块 | 100 |
点云处理模块 | 101 |
计算模块 | 102 |
噪声点去除模块 | 103 |
输出模块 | 104 |
Claims (4)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201310498681.4A CN104574282B (zh) | 2013-10-22 | 2013-10-22 | 点云噪声点去除系统及方法 |
TW102138858A TWI590188B (zh) | 2013-10-22 | 2013-10-28 | 點雲雜訊點去除系統及方法 |
US14/519,308 US20150109290A1 (en) | 2013-10-22 | 2014-10-21 | Device and method for removing noise points in point clouds |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201310498681.4A CN104574282B (zh) | 2013-10-22 | 2013-10-22 | 点云噪声点去除系统及方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN104574282A CN104574282A (zh) | 2015-04-29 |
CN104574282B true CN104574282B (zh) | 2019-06-07 |
Family
ID=52825768
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201310498681.4A Active CN104574282B (zh) | 2013-10-22 | 2013-10-22 | 点云噪声点去除系统及方法 |
Country Status (3)
Country | Link |
---|---|
US (1) | US20150109290A1 (zh) |
CN (1) | CN104574282B (zh) |
TW (1) | TWI590188B (zh) |
Families Citing this family (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20190043250A1 (en) * | 2012-06-25 | 2019-02-07 | Yoldas Askan | Method of generating a smooth image from point cloud data |
CN105590311A (zh) * | 2014-11-13 | 2016-05-18 | 富泰华工业(深圳)有限公司 | 图形化平面数据分析系统及方法 |
JP6505470B2 (ja) * | 2015-02-27 | 2019-04-24 | 株式会社デンソー | ノイズ除去方法および物体認識装置 |
US10066346B2 (en) * | 2015-08-12 | 2018-09-04 | Topcon Positioning Systems, Inc. | Point cloud based surface construction |
CN107123162B (zh) * | 2016-02-24 | 2020-02-21 | 中国科学院沈阳自动化研究所 | 基于二维激光传感器的三维环境表面三角网格构建方法 |
CN107341768B (zh) * | 2016-04-29 | 2022-03-11 | 微软技术许可有限责任公司 | 网格降噪 |
CN108961532B (zh) * | 2017-05-26 | 2020-11-17 | 深圳怡化电脑股份有限公司 | 冠字号图像处理方法、装置、设备及存储介质 |
CN107767375B (zh) * | 2017-11-02 | 2021-06-29 | 广东电网有限责任公司电力科学研究院 | 一种点云质量评估方法及装置 |
CN109766404B (zh) * | 2019-02-12 | 2020-12-15 | 湖北亿咖通科技有限公司 | 点云处理方法、装置及计算机可读存储介质 |
CN110988846B (zh) * | 2019-04-22 | 2023-07-18 | 威力登激光雷达美国有限公司 | 可用于激光雷达的噪点识别方法以及激光雷达系统 |
US11158075B2 (en) * | 2019-06-03 | 2021-10-26 | Zebra Technlogies Corporation | Method, system and apparatus for depth sensor artifact removal |
US10613203B1 (en) * | 2019-07-01 | 2020-04-07 | Velodyne Lidar, Inc. | Interference mitigation for light detection and ranging |
US20220221585A1 (en) * | 2021-01-14 | 2022-07-14 | Argo AI, LLC | Systems and methods for monitoring lidar sensor health |
CN114627020B (zh) * | 2022-03-18 | 2023-06-20 | 易思维(杭州)科技有限公司 | 一种曲面工件反光噪点去除方法 |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101127031A (zh) * | 2006-08-18 | 2008-02-20 | 鸿富锦精密工业(深圳)有限公司 | 点云数据均值过滤系统及方法 |
CN101369313A (zh) * | 2007-08-17 | 2009-02-18 | 鸿富锦精密工业(深圳)有限公司 | 点云噪声点过滤系统及方法 |
CN101373540A (zh) * | 2007-08-20 | 2009-02-25 | 鸿富锦精密工业(深圳)有限公司 | 点云精简系统及方法 |
CN101377851A (zh) * | 2007-08-29 | 2009-03-04 | 鸿富锦精密工业(深圳)有限公司 | 点云到点云的最近距离计算系统及方法 |
CN101635051A (zh) * | 2008-07-25 | 2010-01-27 | 鸿富锦精密工业(深圳)有限公司 | 边界元素提取方法及其计算机系统 |
CN102110305A (zh) * | 2009-12-29 | 2011-06-29 | 鸿富锦精密工业(深圳)有限公司 | 点云三角网格面构建系统及方法 |
CN102136155A (zh) * | 2010-01-27 | 2011-07-27 | 首都师范大学 | 基于三维激光扫描数据的物体立面矢量化方法和系统 |
CN102944174A (zh) * | 2012-11-28 | 2013-02-27 | 北京矿冶研究总院 | 一种点云数据的处理方法及系统 |
CN103164842A (zh) * | 2011-12-14 | 2013-06-19 | 鸿富锦精密工业(深圳)有限公司 | 点云提取系统及方法 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1337963A4 (en) * | 2000-10-30 | 2005-11-02 | Translation Technologies Inc | COMPUTATIONAL GEOMETRY SYSTEM, INTERRUPTION INTERFACE, GEOMETRIC MODEL COMPARATOR, AND CORRESPONDING METHOD |
US7995055B1 (en) * | 2007-05-25 | 2011-08-09 | Google Inc. | Classifying objects in a scene |
WO2011070927A1 (ja) * | 2009-12-11 | 2011-06-16 | 株式会社トプコン | 点群データ処理装置、点群データ処理方法、および点群データ処理プログラム |
-
2013
- 2013-10-22 CN CN201310498681.4A patent/CN104574282B/zh active Active
- 2013-10-28 TW TW102138858A patent/TWI590188B/zh not_active IP Right Cessation
-
2014
- 2014-10-21 US US14/519,308 patent/US20150109290A1/en not_active Abandoned
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101127031A (zh) * | 2006-08-18 | 2008-02-20 | 鸿富锦精密工业(深圳)有限公司 | 点云数据均值过滤系统及方法 |
CN101369313A (zh) * | 2007-08-17 | 2009-02-18 | 鸿富锦精密工业(深圳)有限公司 | 点云噪声点过滤系统及方法 |
CN101373540A (zh) * | 2007-08-20 | 2009-02-25 | 鸿富锦精密工业(深圳)有限公司 | 点云精简系统及方法 |
CN101377851A (zh) * | 2007-08-29 | 2009-03-04 | 鸿富锦精密工业(深圳)有限公司 | 点云到点云的最近距离计算系统及方法 |
CN101635051A (zh) * | 2008-07-25 | 2010-01-27 | 鸿富锦精密工业(深圳)有限公司 | 边界元素提取方法及其计算机系统 |
CN102110305A (zh) * | 2009-12-29 | 2011-06-29 | 鸿富锦精密工业(深圳)有限公司 | 点云三角网格面构建系统及方法 |
CN102136155A (zh) * | 2010-01-27 | 2011-07-27 | 首都师范大学 | 基于三维激光扫描数据的物体立面矢量化方法和系统 |
CN103164842A (zh) * | 2011-12-14 | 2013-06-19 | 鸿富锦精密工业(深圳)有限公司 | 点云提取系统及方法 |
CN102944174A (zh) * | 2012-11-28 | 2013-02-27 | 北京矿冶研究总院 | 一种点云数据的处理方法及系统 |
Also Published As
Publication number | Publication date |
---|---|
US20150109290A1 (en) | 2015-04-23 |
TWI590188B (zh) | 2017-07-01 |
CN104574282A (zh) | 2015-04-29 |
TW201523511A (zh) | 2015-06-16 |
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Effective date of registration: 20191112 Address after: Room 2, west of the second floor, No. 355, Huanbei West Road, Weitang street, Jiashan County, Jiaxing City, Zhejiang Province Patentee after: Jiashan Weitang Asset Management Co.,Ltd. Address before: 518109, No. two, No. tenth, East Ring Road, Pinus tabulaeformis Industrial Zone, Longhua Town, Baoan District, Guangdong, Shenzhen, 2 Co-patentee before: HON HAI PRECISION INDUSTRY Co.,Ltd. Patentee before: HONG FU JIN PRECISION INDUSTRY (SHENZHEN) Co.,Ltd. |
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PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: System and method of point cloud noise point removal Effective date of registration: 20210531 Granted publication date: 20190607 Pledgee: Weitang sub branch of Zhejiang Jiashan Rural Commercial Bank Co.,Ltd. Pledgor: Jiashan Weitang Asset Management Co.,Ltd. Registration number: Y2021980004130 |
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PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20231018 Granted publication date: 20190607 Pledgee: Weitang sub branch of Zhejiang Jiashan Rural Commercial Bank Co.,Ltd. Pledgor: Jiashan Weitang Asset Management Co.,Ltd. Registration number: Y2021980004130 |
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PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Point Cloud Noise Point Removal System and Method Effective date of registration: 20231127 Granted publication date: 20190607 Pledgee: Weitang sub branch of Zhejiang Jiashan Rural Commercial Bank Co.,Ltd. Pledgor: Jiashan Weitang Asset Management Co.,Ltd. Registration number: Y2023330002807 |
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PE01 | Entry into force of the registration of the contract for pledge of patent right |