CN111819602A - 增加点云采样密度的方法、点云扫描系统、可读存储介质 - Google Patents

增加点云采样密度的方法、点云扫描系统、可读存储介质 Download PDF

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CN111819602A
CN111819602A CN201980005414.4A CN201980005414A CN111819602A CN 111819602 A CN111819602 A CN 111819602A CN 201980005414 A CN201980005414 A CN 201980005414A CN 111819602 A CN111819602 A CN 111819602A
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point cloud
point
pixel
blank area
points
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李延召
张富
陈涵
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T11/00—2D [Two Dimensional] image generation
    • G06T11/003—Reconstruction from projections, e.g. tomography
    • G06T11/006—Inverse problem, transformation from projection-space into object-space, e.g. transform methods, back-projection, algebraic methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating 3D models or images for computer graphics
    • 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
    • G06T2210/00—Indexing scheme for image generation or computer graphics
    • G06T2210/56—Particle system, point based geometry or rendering

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  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Analysis (AREA)
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  • Mathematical Optimization (AREA)
  • Mathematical Physics (AREA)
  • Pure & Applied Mathematics (AREA)
  • Software Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • Computer Graphics (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

提供了一种增加点云采样密度的方法、点云扫描系统和可读存储介质。增加点云采样密度的方法包括：基于给定的平面对三维的第一点云进行投影变换，得到第一平面图像(401)；基于第一平面图像中空白区域周围的像素点在空白区域内插入若干个像素点，得到第二平面图像(402)；对第二平面图像进行反投影变换，得到重建后三维的第二点云(403)。增加点云采样密度的方法以在平面图像中插入像素点替代在三维点云中插入点，这样可以降低插入数据操作的难度。并且，与第一点云相比，第二点云中点的密度明显增加，降低了第一点云中点分布的稀疏性，方便用户根据第二点云观察所对应场景内的物体。

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PCT国内申请，说明书已公开。

Claims (53)

  1. PCT国内申请，权利要求书已公开。
CN201980005414.4A 2019-02-02 2019-02-02 增加点云采样密度的方法、点云扫描系统、可读存储介质 Pending CN111819602A (zh)

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PCT/CN2019/074630 WO2020155159A1 (zh) 2019-02-02 2019-02-02 增加点云采样密度的方法、点云扫描系统、可读存储介质

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113427168A (zh) * 2021-05-12 2021-09-24 广州中国科学院先进技术研究所 一种焊接机器人实时焊缝跟踪装置及方法

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CN116452403B (zh) * 2023-06-16 2023-09-01 瀚博半导体(上海)有限公司 点云数据处理方法、装置、计算机设备及存储介质
CN117830087A (zh) * 2024-01-02 2024-04-05 常州市新创智能科技有限公司 超声波检测中c扫图像填充方法、装置、设备及介质

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CN105825543B (zh) * 2016-03-31 2018-06-19 武汉大学 基于低空遥感影像的多视密集点云生成方法及系统
CN106023303B (zh) * 2016-05-06 2018-10-26 西安电子科技大学 一种基于轮廓有效性提高三维重建点云稠密程度的方法
CN106683173B (zh) * 2016-12-22 2019-09-13 西安电子科技大学 一种基于邻域块匹配提高三维重建点云稠密程度的方法
IT201700033593A1 (it) * 2017-03-27 2018-09-27 3Dflow Srl Metodo di generazione di un modello 3D basato su elaborazione Structure from Motion e stereo fotometrico di immagini 2D sparse
CN107194983B (zh) * 2017-05-16 2018-03-09 华中科技大学 一种基于点云与影像数据的三维可视化方法和系统
CN107830800B (zh) * 2017-10-26 2019-11-12 首都师范大学 一种基于车载扫描系统生成精细立面图的方法
CN109300190B (zh) * 2018-09-06 2021-08-10 百度在线网络技术（北京）有限公司 三维数据的处理方法、装置、设备和存储介质

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113427168A (zh) * 2021-05-12 2021-09-24 广州中国科学院先进技术研究所 一种焊接机器人实时焊缝跟踪装置及方法

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