CN108257163B - 一种已知扫描点位置下的两点点云配准方法 - Google Patents
一种已知扫描点位置下的两点点云配准方法 Download PDFInfo
- Publication number
- CN108257163B CN108257163B CN201711291269.XA CN201711291269A CN108257163B CN 108257163 B CN108257163 B CN 108257163B CN 201711291269 A CN201711291269 A CN 201711291269A CN 108257163 B CN108257163 B CN 108257163B
- Authority
- CN
- China
- Prior art keywords
- point
- registered
- station
- point cloud
- points
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 59
- 239000011159 matrix material Substances 0.000 claims abstract description 95
- 238000011156 evaluation Methods 0.000 claims abstract description 25
- 238000007781 pre-processing Methods 0.000 claims abstract description 4
- 238000004364 calculation method Methods 0.000 claims description 7
- 238000005070 sampling Methods 0.000 abstract description 5
- 230000007547 defect Effects 0.000 description 6
- 230000009466 transformation Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
-
- 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
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201711291269.XA CN108257163B (zh) | 2017-12-08 | 2017-12-08 | 一种已知扫描点位置下的两点点云配准方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201711291269.XA CN108257163B (zh) | 2017-12-08 | 2017-12-08 | 一种已知扫描点位置下的两点点云配准方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN108257163A CN108257163A (zh) | 2018-07-06 |
CN108257163B true CN108257163B (zh) | 2020-04-07 |
Family
ID=62721039
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201711291269.XA Active CN108257163B (zh) | 2017-12-08 | 2017-12-08 | 一种已知扫描点位置下的两点点云配准方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN108257163B (zh) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109712174B (zh) * | 2018-12-25 | 2020-12-15 | 湖南大学 | 一种复杂异形曲面机器人三维测量的点云误配准滤除方法及系统 |
CN110415361B (zh) * | 2019-07-26 | 2020-05-15 | 北京罗森博特科技有限公司 | 断裂物体拼接方法及装置 |
CN110342153B (zh) * | 2019-07-29 | 2022-03-15 | 齐霄强 | 一种基于三维点云的垃圾桶识别抓取方法 |
CN111398936B (zh) * | 2020-03-11 | 2021-04-06 | 山东大学 | 一种多路侧激光雷达点云配准装置及其使用方法 |
CN111402308B (zh) * | 2020-03-17 | 2023-08-04 | 阿波罗智能技术(北京)有限公司 | 障碍物速度的确定方法、装置、设备和介质 |
CN112525161B (zh) * | 2021-02-09 | 2021-05-14 | 南京景曜智能科技有限公司 | 一种旋转轴标定方法 |
CN115100258B (zh) * | 2022-08-29 | 2023-02-07 | 杭州三坛医疗科技有限公司 | 一种髋关节图像配准方法、装置、设备以及存储介质 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102393183A (zh) * | 2011-04-19 | 2012-03-28 | 程效军 | 基于控制网的海量点云快速配准方法 |
CN103955939A (zh) * | 2014-05-16 | 2014-07-30 | 重庆理工大学 | 三维扫描系统中点云拼接用边界特征点配准方法 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10121223B2 (en) * | 2015-03-02 | 2018-11-06 | Aerial Sphere, Llc | Post capture imagery processing and deployment systems |
-
2017
- 2017-12-08 CN CN201711291269.XA patent/CN108257163B/zh active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102393183A (zh) * | 2011-04-19 | 2012-03-28 | 程效军 | 基于控制网的海量点云快速配准方法 |
CN103955939A (zh) * | 2014-05-16 | 2014-07-30 | 重庆理工大学 | 三维扫描系统中点云拼接用边界特征点配准方法 |
Non-Patent Citations (3)
Title |
---|
基于三维点云的机场通道面指标检测研究;才长帅等;《中国水运》;20170930;第17卷(第9期);全文 * |
大规模城市三维重建中点云配准及平面提取研究;王瑞岩等;《信号处理》;20150630;第31卷(第6期);全文 * |
应用摄像机位估计的点云初始配准;郭清达等;《光学精密工程》;20170630;第25卷(第6期);全文 * |
Also Published As
Publication number | Publication date |
---|---|
CN108257163A (zh) | 2018-07-06 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN108257163B (zh) | 一种已知扫描点位置下的两点点云配准方法 | |
CN111145232A (zh) | 一种基于特征信息变化度的三维点云自动配准方法 | |
EP1319216A2 (en) | Sar and flir image registration method | |
Yu et al. | Robust robot pose estimation for challenging scenes with an RGB-D camera | |
CN108022262A (zh) | 一种基于点的邻域重心向量特征的点云配准方法 | |
CN109559340A (zh) | 一种并行的三维点云数据自动化配准方法 | |
CN114241018B (zh) | 一种牙齿点云配准方法、系统及可读存储介质 | |
CN109615645A (zh) | 基于视觉的特征点提取方法 | |
CN109965979A (zh) | 一种无需标志点的稳健的神经导航自动注册方法 | |
CN115100258B (zh) | 一种髋关节图像配准方法、装置、设备以及存储介质 | |
CN111028345B (zh) | 一种港口场景下圆形管道的自动识别与对接方法 | |
CN111243008A (zh) | 一种用于高精度工件的圆弧数据拟合方法 | |
CN117173227A (zh) | 基于平面拟合的点云配准方法、装置和电子设备 | |
CN113298838B (zh) | 一种物体轮廓线提取方法及系统 | |
Fretes et al. | A review of existing evaluation methods for point clouds quality | |
CN115131433A (zh) | 一种非合作目标位姿的处理方法、装置及电子设备 | |
CN111639691B (zh) | 一种基于特征匹配和贪婪搜索的图像数据采样方法 | |
CN114545412A (zh) | Isar图像序列等效雷达视线拟合的空间目标姿态估计方法 | |
CN110197509B (zh) | 一种基于彩色人工标识的相机位姿求解法 | |
Huang et al. | Pose determination of a cylinder using reprojection transformation | |
Tsai et al. | Detection of vanishing points using Hough transform for single view 3D reconstruction | |
Wu et al. | Point cloud registration algorithm based on the volume constraint | |
CN112183596A (zh) | 结合局部网格约束和几何约束的直线段匹配方法与系统 | |
CN111223139A (zh) | 目标定位方法及终端设备 | |
CN117076704B (zh) | 一种图像质量分析评价方法及系统 |
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 | ||
TR01 | Transfer of patent right |
Effective date of registration: 20201201 Address after: 226300 Jianghai Yuanmeng Valley, No. 998, Century Avenue, high tech Zone, Nantong City, Jiangsu Province Patentee after: JIANGSU HAOHAN INFORMATION TECHNOLOGY Co.,Ltd. Address before: 710071, No. 2 Taibai South Road, Yanta District, Shaanxi, Xi'an Patentee before: XIDIAN University |
|
TR01 | Transfer of patent right | ||
PE01 | Entry into force 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: A two-point point cloud registration method with known scanning point positions Effective date of registration: 20211207 Granted publication date: 20200407 Pledgee: Nantong Jiangsu rural commercial bank Limited by Share Ltd. Pledgor: JIANGSU HAOHAN INFORMATION TECHNOLOGY Co.,Ltd. Registration number: Y2021980014300 |
|
PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20221102 Granted publication date: 20200407 Pledgee: Nantong Jiangsu rural commercial bank Limited by Share Ltd. Pledgor: JIANGSU HAOHAN INFORMATION TECHNOLOGY Co.,Ltd. Registration number: Y2021980014300 |
|
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: A registration method of two-point point cloud with known scanning point position Effective date of registration: 20221207 Granted publication date: 20200407 Pledgee: Jiangsu Nantong Rural Commercial Bank Co.,Ltd. Si'an Sub branch Pledgor: JIANGSU HAOHAN INFORMATION TECHNOLOGY Co.,Ltd. Registration number: Y2022980025338 |
|
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: 20231017 Granted publication date: 20200407 Pledgee: Jiangsu Nantong Rural Commercial Bank Co.,Ltd. Si'an Sub branch Pledgor: JIANGSU HAOHAN INFORMATION TECHNOLOGY Co.,Ltd. Registration number: Y2022980025338 |
|
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: A Two Point Point Cloud Registration Method with Known Scan Point Positions Effective date of registration: 20231020 Granted publication date: 20200407 Pledgee: Jiangsu Nantong Rural Commercial Bank Co.,Ltd. Si'an Sub branch Pledgor: JIANGSU HAOHAN INFORMATION TECHNOLOGY Co.,Ltd. Registration number: Y2023980061751 |
|
PE01 | Entry into force of the registration of the contract for pledge of patent right |