CN109255837A - A kind of building method of the efficient B-spline surface for laser radar point cloud data processing - Google Patents
A kind of building method of the efficient B-spline surface for laser radar point cloud data processing Download PDFInfo
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Abstract
The present invention relates to a kind of building method of efficient B-spline surface for laser radar point cloud data processing, this method is simplified and is corrected to collected laser radar point cloud data first；Secondly the point cloud data after simplifying is fitted using a plurality of B-spline curves；Then according to the precision of needs, B-spline curves are sampled, obtain the uniformly distributed control point of angle of revolution, pitch angle；Gained control point is finally utilized, uniform rational B-spline curved surface is generated, realizes indoor environment three-dimensional modeling, navigation and avoidance for intelligent mobile robot, automatic guided vehicle.
Description
Technical field
The present invention relates to a kind of methods of indoor environment three-dimensional modeling, belong to field of machinery automation, and in particular to a kind of
The building method of efficient B-spline surface for laser radar point cloud data processing.
Background technique
Laser radar emits laser beam, and receives reflection signal, is compared simultaneously by that will reflect signal with transmitting signal
It processes, obtains the location information of target.Laser radar is excellent due to high resolution, strong antijamming capability, small in size, light weight etc.
Point is increasingly being applied to the navigation of outdoor unmanned and indoor mobile robot, automatic guided vehicle.Benefit
The point cloud data of indoor three-dimensional space is obtained with laser radar, the model for then reconstructing three-dimensional space is that indoor navigation first has to solve
Certainly the problem of.
Laser radar output is intensive point cloud data, without unified mathematic(al) representation, does not describe body form, simultaneously
There is the case where mutation in data, not can be used directly in navigation, needs to recover indoor three-dimensional mould using corresponding algorithm
Type could be used for subsequent indoor mobile robot, the positioning of automatic guided vehicle, path planning and avoidance.
Summary of the invention
In view of the defects existing in the prior art, the object of the present invention is to provide one kind is handled for laser radar point cloud data
Efficient B-spline surface building method, to realize the modeling of indoor three-dimensional space.
In order to achieve the above objectives, basic ideas of the invention are:
Firstly, intensive point cloud data collected to laser radar is simplified and is corrected；Secondly, using B-spline curves
The point cloud being fitted after simplifying, obtains the B-spline curves race of three-dimensional space；Secondly, using a series of perpendicular to ground, and pass through and swash
The plane cutting B-spline curves of optical radar axis of rotation obtain a series of uniformly distributed intersection point of angles of revolution, pitch angle；Finally, by upper
Intersection point is stated as control point-rendering uniform rational B-spline curved surface, realizes the modeling to three-dimensional space.
According to above-mentioned design, technical solution provided by the invention is as follows:
A kind of building method of the efficient B-spline surface for laser radar point cloud data processing, the specific steps are as follows:
1) design a kind of efficient laser radar point cloud data simplify with modified method, to initial intensive point cloud data into
Row pretreatment, and simplified；
2) point cloud data after simplifying is fitted using B-spline curves, formation is continuous, smooth, and has stringent number
Learn the space B spline curve race of expression formula；
3) fast solution method for designing a kind of B-spline curves and plane point of intersection, utilizes the line of two o'clock on B-spline curves
With the intersection point of plane, the highly effective algorithm of segmentation B-spline curves is constructed, using iterative calculation, rapid solving goes out intersection point；
4) precision as needed crosses the plane of laser radar axis of rotation using series, and to B-spline curves, race is cut
Intersection point is cut and finds out, the uniformly distributed control point in the angle of revolution, pitch angle where obtaining original laser radar points cloud on space curved surface；
5) gained control point is utilized, uniform rational B-spline curved surface is generated, realization models three-dimensional space.
The efficient laser radar point cloud data of one of described step 1) is simplified and modification method, specific steps are as follows:
1-1) to the collected original point cloud data of multi-line laser radar, by line to collected cloud of each line laser into
The distance between row arrangement, calculating each point, and calculate total chord length；
It is 1-2) limited control point by the collected intensive point cloud compressing of each line laser, and mutual distance is equal
It is even, method particularly includes: by total chord length divided by the number at required control point, obtain the spacing for simplifying rear control point；
1-3) the collected point off density cloud of each line laser is traversed, each point in same spacing is carried out on position
Summation, average, the control point simplified reduce the influence of mutated site point because using summation, averagely, realize pair
The amendment of point cloud accidental data.
Being fitted using B-spline curves to the point cloud data after simplifying in the step 2), formation is continuous, smooth,
And the method for the space B spline curve race with strict mathematical expression formula, specific steps are as follows:
2-1) each line is arranged, and calculate total chord length by simplifying, correcting obtained control point；
2-2) calculate distance from initial control point to current control point and, then divided by total chord length, obtain node arrow
Amount；
It 2-3) is directed to each line traffic control point and knot vector, B-spline curves is constructed, ultimately forms continuous, smooth and have
B-spline curves race in the space of strict mathematical expression formula.
The fast solution method of one of the step 3) B-spline curves and plane point of intersection, specific steps are as follows:
The distance for 3-1) calculating each control point of B-spline curves to plane is found positioned at plane not and according to the positive and negative of distance
Ipsilateral two adjacent control points；
3-2) it is constructed through the straight line at above-mentioned two control point, the intersection point of Analytic Method straight line and plane；
Above-mentioned two control point 3-3) is calculated separately to the distance of intersection point, is divided by obtain a ratio；
This rate value 3-4) is pressed, divides the corresponding nodal value of B-spline curves section between two control points, and by new node value
B-spline curves equation is substituted into, a new point on B-spline curves is obtained；
3-5) solve the distance of new point to plane, if already less than given threshold value, acquire one it is close enough with plane
B-spline curves on point, i.e. intersection point；Otherwise according to the positive and negative of distance value, determine that new point is located at the which side of plane, then use
New point substitutes that ipsilateral control point；
3-6) repeat the above steps 3-2), 3-3), 3-4), 3-5), until acquire intersection point.
Precision as needed in the step 4) crosses the plane of laser radar axis of rotation using series, to B-spline song
Intersection point is cut and found out in line race, obtains being distributed in the uniformly distributed control point of angle of revolution on space curved surface, pitch angle, specific to walk
Suddenly are as follows:
4-1) precision as needed, the size of setting revolution angular spacing obtain a series of perpendicular to ground, excessively laser thunder
Up to rotating shaft, and adjacent plane has the plane of equal revolution angular spacing；
The rotating shaft that laser radar 4-2) is arranged is reference axis z, establishes three-dimensional coordinate system, calculates the space of each plane
Four coefficients of plane equation；
The B-spline curves and plane point of intersection fast solution method 4-3) provided using step 3), solve B-spline curves race with
The intersection point of sequence of planar, the uniformly distributed control point in angle of revolution, pitch angle where obtaining original laser radar points clouds on space curved surface.
Gained control point is utilized in the step 5), generates uniform rational B-spline curved surface, and three-dimensional space is built in realization
Mould, specific steps are as follows:
5-1) the control point obtained based on step 4) constructs the knot vector turned round, in pitching both direction；
5-2) calculate each spline base function；
Uniform rational B-spline curved surface 5-3) is generated, so that the control point simplified using quantity, realizes the essence to three-dimensional space
Really modeling.
Compared with prior art, the present invention has the advantage that:
1, the present invention devises a kind of efficient Cloud Points Reduction and modification method, avoids direct or conventional to a cloud number
According to high amount of calculation brought by being handled, while the influence of mutated site point is reduced, realized prominent to cloud
The amendment of parameter evidence, and can guarantee the precision of point cloud data；
2, the present invention is fitted point cloud data using serial B-spline curves, compared with other approximating methods, has structure letter
Advantage clean, with high accuracy is fitted resulting line smoothing, continuous, and has stringent mathematic(al) representation；
3, the present invention devises the fast solution method of a kind of B-spline curves and plane point of intersection, solves existing plane
With B-spline curves intersection point solve in the problem of algorithm is complicated, low efficiency；
4, the precision that the present invention can according to need spatially constructs corresponding sparse density, angle of revolution, pitch angle
Uniformly distributed control point, and to generate the B-spline surface with complete mathematical expression.Uniformly distributed control point, is more conducive to sky
Between the identification of analysis and subsequent space object that is laid out.
Detailed description of the invention
Fig. 1 is that the present invention realizes general flow chart.
Fig. 2 is 16 line laser radar point cloud chart example to be dealt with of the embodiment of the present invention.
Fig. 3 be through step 1) the method processing after, obtained single line simplify after control point.
Fig. 4 is obtained 16 B-spline curves after the processing of step 2) the method.
Fig. 5 be through step 3), 4), 5) the method processing after, the controllable B-spline surface figure of obtained precision.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing further description of the technical solution of the present invention.
Laser radar used by the present embodiment is current relative maturity, and most potential 16 lines applied to indoor navigation
Laser radar, which contains 16 laser transceiver elements, 150 meters of distance of measurement or more, within the +/- 2cm of measurement accuracy,
Points are up to 320000 points/second, 360 ° of horizontal angle measurement, 30 ° of vertical angle measurement out.
The output of laser radar is the horizontal rotation angle of each reflection point and the distance that detects, in order to which three-dimensional point cloud is presented
The effect of figure can further convert the angle and distance information under polar coordinates under rectangular coordinate system:
Wherein r is measured distance, and ω is the pitch angle of laser,For the horizontal rotation angle of laser, x, y, z is pole seat
Mark projects to the coordinate in rectangular coordinate system X, Y, Z axis.
As shown in Figure 1, a kind of building method of the efficient B-spline surface for laser radar point cloud data processing, including
Following steps:
Step 1: design a kind of efficient laser radar point cloud data simplify with modified method, to initial point off density cloud
Data are pre-processed, and are simplified, as shown in Fig. 2, specific steps are as follows:
1.1 pairs of collected original point cloud datas of laser radar are successively carried out by original point cloud data of the line to 1 to 16 lines
Processing.L the distance between is arranged, calculates each point to the point cloud data of each linei, and calculate total chord lengthWherein
M is the number of the point in the original point off density cloud of each line；
1.2 according to the required accuracy, is limited control point M by the collected intensive point cloud compressing of each line laser, will be total
Chord length divided by control point number M, obtain simplifying the spacing between rear each control point
The original point off density cloud of 1.3 pairs of each lines traverses, and in same spacing each point carry out position on summation,
It is average, the control point simplified, as shown in Figure 3.It sums, averagely because using, reduces the influence of mutated site point, realize
To an amendment for cloud accidental data.
Step 2: being fitted the point cloud data after simplifying using B-spline curves, obtains continuous, smooth, and has tight
The space B spline curve race of lattice mathematic(al) representation, specific steps are as follows:
2.1 pairs of each lines are by simplifying, correcting obtained control point PjIt is traversed, calculates total chord length
Wherein M is the number at the control point obtained after step 1 is simplified, ljFor control point PjTo the distance at next control point.
2.2 from initial control point to current point control point, calculate distance between each control point and L, then divided by total
Chord length L2, knot vector U is obtained,
2.3 are based on above-mentioned each control point Pj, calculate the value N of spline base functionj,p(u), B-spline curves are constructed, such as Fig. 4 institute
Show, specific formula are as follows:0≤u≤1。
Step 3: the fast solution method of a kind of B-spline curves and plane point of intersection is designed, two o'clock on B-spline curves is utilized
Line and plane intersection point, construct segmentation B-spline curves highly effective algorithm, using iterative calculation, rapid solving goes out intersection point,
Specific steps are as follows:
3.1 distances for calculating each control points of B-spline curves to plane are found positioned at plane not and according to the positive and negative of distance
Ipsilateral two adjacent control point Pi、Pi+1, respective coordinates (xi,yi,zi) and (xi+1,yi+1,zi+1), then calculate this two
The distance between a control point li,i+1。
3.2 are constructed through the straight line at above-mentioned two control pointSolution obtains above-mentioned straight
Line and plane A (x-x0)+B(y-y0)+C(z-z0)+D=0 intersection point Pj:
3.3 calculate control point PiWith intersection point PjDistance li,jAnd intersection point PjTo control point Pi+1Distance lj,i+1, obtain
One ratio
3.4 in above-mentioned two control point Pi、Pi+1Corresponding node variation range [ui,ui+1] in, t divides the section in proportion
Point variation range, obtains a new node uj, i.e. ujMeet: (ui-uj)/(uj-ui+1)=t.
3.5 by new node ujB-spline curves equation is substituted into, the new point P ' on B-spline curves is obtainedj, the point is calculated to plane
Distance:If d 'jAlready less than given threshold value, then the friendship of B-spline curves and plane is acquired
Point P 'j；Otherwise according to d 'jIt is positive and negative, determine P 'jIn the which side of plane, P ' is then usedjThat ipsilateral control point is substituted, is made
Next iteration calculating is obtained to carry out in a smaller node interval.
3.6 repeat the above steps 3.2 to 3.5, until acquiring the intersection point of B-spline curves and plane.
Step 4: precision as needed crosses the plane of laser radar axis of rotation using series, to B-spline curves race
Intersection point is cut and is found out, to obtain being distributed in the uniformly distributed control point of the angle of revolution on space curved surface, pitch angle, specific steps
Are as follows:
A series of planes for crossing laser radar axis of rotation of 4.1 constructions, and ensure between adjacent plane having the same time
Gyration interval, plane quantity are determined by the precision needed.
4.2, using laser radar rotating shaft as Z axis, establish rectangular coordinate system, determine the coefficient of each plane equation.
It is assumed that using m plane, the then coefficient of each corresponding plane equation are as follows:
The fast solution method of 4.3 B-spline curves and plane point of intersection provided using step 3 solves m plane and 16
The intersection point of space B spline curve, the angle of revolution, pitch angle where obtaining original laser radar points cloud on space curved surface are uniformly distributed
Control point.
Step 5: utilizing gained control point, constructs uniform rational B-spline curved surface, and realization models three-dimensional space, has
Body step are as follows:
The 5.1 control point P obtained based on above-mentioned steps fouri,j, construction revolution, the knot vector U in pitching both direction and
V。
5.2 calculate the spline base function N on the two directionsi,p(u) and Nj,q(v) value.
Then 5.3 construct uniform rational B-spline curved surface:As shown in figure 5,
The Accurate Model to three-dimensional space is realized at control point to be simplified using quantity.
Claims (6)
1. a kind of building method of the efficient B-spline surface for laser radar point cloud data processing, which is characterized in that specific step
It is rapid as follows:
1) design a kind of efficient laser radar point cloud data simplify with modified method, initial intensive point cloud data is carried out pre-
Processing, and simplified；
2) point cloud data after simplifying is fitted using B-spline curves, formation is continuous, smooth, and has strict mathematical table
Up to the space B spline curve race of formula；
3) fast solution method for designing a kind of B-spline curves and plane point of intersection utilizes the line of two o'clock on B-spline curves and flat
The intersection point in face constructs the highly effective algorithm of segmentation B-spline curves, and using iterative calculation, rapid solving goes out intersection point；
4) precision as needed crosses the plane of laser radar axis of rotation using series, and to B-spline curves, race is cut simultaneously
Intersection point is found out, the uniformly distributed control point in the angle of revolution, pitch angle where obtaining original laser radar points cloud on space curved surface；
5) gained control point is utilized, uniform rational B-spline curved surface is generated, realization models three-dimensional space.
2. the building method of the efficient B-spline surface according to claim 1 for laser radar point cloud data processing,
It is characterized in that, the efficient laser radar point cloud data of one of described step 1) is simplified and modification method, specific steps are as follows:
1-1) to the collected original point cloud data of multi-line laser radar, collected cloud of each line laser is arranged by line
The distance between column, calculating each point, and calculate total chord length；
It is 1-2) limited control point by the collected intensive point cloud compressing of each line laser, and mutual distance is uniform,
Method particularly includes: by total chord length divided by the number at required control point, obtain the spacing for simplifying rear control point；
1-3) the collected point off density cloud of each line laser is traversed, each point in same spacing ask on position
With average, the control point simplified, sums, averagely because using, reduce the influence of mutated site point, realize to point
The amendment of cloud accidental data.
3. the building method of the efficient B-spline surface according to claim 1 for laser radar point cloud data processing,
It being characterized in that, the point cloud data after simplifying is fitted using B-spline curves in the step 2, formation is continuous, smooth,
And the method for the space B spline curve race with strict mathematical expression formula, specific steps are as follows:
2-1) each line is arranged, and calculate total chord length by simplifying, correcting obtained control point；
2-2) calculate distance from initial control point to current control point and, then divided by total chord length, obtain knot vector；
It 2-3) is directed to each line traffic control point and knot vector, constructs B-spline curves, ultimately form continuous, smooth and is had stringent
B-spline curves race in the space of mathematic(al) representation.
4. the building method of the efficient B-spline surface according to claim 1 for laser radar point cloud data processing,
It is characterized in that, the fast solution method of one of described step 3) B-spline curves and plane point of intersection, specific steps are as follows:
The distance for 3-1) calculating each control point of B-spline curves to plane is found not ipsilateral positioned at plane and according to the positive and negative of distance
Two adjacent control points；
3-2) it is constructed through the straight line at above-mentioned two control point, the intersection point of Analytic Method straight line and plane；
Above-mentioned two control point 3-3) is calculated separately to the distance of intersection point, is divided by obtain a ratio；
This rate value 3-4) is pressed, divides the corresponding nodal value of B-spline curves section between two control points, and new node value is substituted into
B-spline curves equation obtains a new point on B-spline curves；
The distance for 3-5) solving new point to plane, if acquiring a B sample close enough with plane already less than given threshold value
Point on curve, i.e. intersection point；Otherwise according to the positive and negative of distance value, determine that new point is located at the which side of plane, then with new point
Substitute that ipsilateral control point；
3-6) repeat the above steps 3-2), 3-3), 3-4), 3-5), until acquire intersection point.
5. the building method of the efficient B-spline surface according to claim 1 for laser radar point cloud data processing,
It is characterized in that, precision as needed in the step 4), the plane of laser radar axis of rotation is crossed using series, to B-spline
Intersection point is cut and found out in family of curves, obtains being distributed in the uniformly distributed control point of angle of revolution on space curved surface, pitch angle, specifically
Step are as follows:
4-1) precision as needed, the size of setting revolution angular spacing obtain a series of perpendicular to ground, excessively laser radar time
Shaft, and adjacent plane has the plane of equal revolution angular spacing；
The rotating shaft that laser radar 4-2) is arranged is reference axis z, establishes three-dimensional coordinate system, calculates the space plane of each plane
Four coefficients of equation；
4-3) the B-spline curves and plane point of intersection fast solution method provided using step 3), solve B-spline curves race and series
The intersection point of plane, the uniformly distributed control point in angle of revolution, pitch angle where obtaining original laser radar points clouds on space curved surface.
6. the building method of the efficient B-spline surface according to claim 1 for laser radar point cloud data processing,
It is characterized in that, gained control point is utilized in the step 5), generate uniform rational B-spline curved surface, realize and three-dimensional space is carried out
Modeling, specific steps are as follows:
5-1) the control point obtained based on step 4) constructs the knot vector turned round, in pitching both direction；
5-2) calculate each spline base function；
Uniform rational B-spline curved surface 5-3) is generated, so that the control point simplified using quantity, realizes accurately building to three-dimensional space
Mould.
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| CN110908337A (en) * | 2019-12-18 | 2020-03-24 | 湘潭大学 | Method for predicting inverse control point of NURBS |
| CN113686251A (en) * | 2021-08-19 | 2021-11-23 | 山东科技大学 | Deviation measurement method and system for equipment leap-up and slip-down of fully mechanized coal mining face |
| CN114217572A (en) * | 2021-12-08 | 2022-03-22 | 中国科学院数学与系统科学研究院 | CAM-based time spline surface generation method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110375668A (en) * | 2019-07-08 | 2019-10-25 | 西北农林科技大学 | Loess Surface mima type microrelief Surface Reconstruction based on point cloud data |
| CN110908337A (en) * | 2019-12-18 | 2020-03-24 | 湘潭大学 | Method for predicting inverse control point of NURBS |
| CN113686251A (en) * | 2021-08-19 | 2021-11-23 | 山东科技大学 | Deviation measurement method and system for equipment leap-up and slip-down of fully mechanized coal mining face |
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| CN114217572A (en) * | 2021-12-08 | 2022-03-22 | 中国科学院数学与系统科学研究院 | CAM-based time spline surface generation method |
| CN114217572B (en) * | 2021-12-08 | 2023-07-25 | 中国科学院数学与系统科学研究院 | CAM-based time spline surface generation method |
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