CN113906474A - 点云模型的切割方法、装置和系统 - Google Patents

点云模型的切割方法、装置和系统 Download PDF

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Publication number
CN113906474A
CN113906474A CN201980096739.8A CN201980096739A CN113906474A CN 113906474 A CN113906474 A CN 113906474A CN 201980096739 A CN201980096739 A CN 201980096739A CN 113906474 A CN113906474 A CN 113906474A
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China
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cutting
point cloud
cutting window
target object
window
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CN201980096739.8A
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王海峰
费涛
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Siemens Ltd China
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Siemens Ltd China
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/11—Region-based segmentation
    • 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
    • G06T19/00—Manipulating 3D models or images for computer graphics
    • 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
    • G06T2200/24—Indexing scheme for image data processing or generation, in general involving graphical user interfaces [GUIs]
    • 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
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20092—Interactive image processing based on input by user
    • G06T2207/20104—Interactive definition of region of interest [ROI]
    • 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

Abstract

本发明提供了点云模型的切割方法、装置和系统，其中，包括如下步骤：S1，利用一个二维的第一切割窗口从一个点云模型中选出包括目标物体的点云结构；S2，调整第一切割窗口的深度，第一切割窗口的长度、宽度和深度构成一个三维的第二切割窗口，目标物体位于所述第二切割窗口中；S3，识别并标记所述第二切割窗口中的所有点云结构以形成多个三维的第三切割窗口，其中，所述目标物体位于其中一个第三切割窗口中；S4，计算每个第三切割窗口中点云结构相对于所述第二切割窗口的体积占比，选出体积占比最大的第三切割窗口。本发明提供的点云模型的切割机制能够考虑了本来省略的3D点云模型的深度信息，本发明能够自动将目标物体筛选出来发送给客户。

Description

PCT国内申请，说明书已公开。

Claims (11)

  1. PCT国内申请，权利要求书已公开。
CN201980096739.8A 2019-06-28 2019-06-28 点云模型的切割方法、装置和系统 Pending CN113906474A (zh)

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PCT/CN2019/093894 WO2020258314A1 (zh) 2019-06-28 2019-06-28 点云模型的切割方法、装置和系统

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EP (1) EP3971829B1 (zh)
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CN113298866A (zh) * 2021-06-11 2021-08-24 梅卡曼德（北京）机器人科技有限公司 物体分类方法及装置

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EP3839793A1 (en) * 2019-12-16 2021-06-23 Dassault Systèmes Interactive object selection
CN114492619B (zh) * 2022-01-22 2023-08-01 电子科技大学 一种基于统计和凹凸性的点云数据集构建方法及装置
CN115205717B (zh) * 2022-09-14 2022-12-20 广东汇天航空航天科技有限公司 障碍物点云数据处理方法以及飞行设备
CN116310849B (zh) * 2023-05-22 2023-09-19 深圳大学 基于三维形态特征的树木点云单体化提取方法

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KR100721536B1 (ko) * 2005-12-09 2007-05-23 한국전자통신연구원 2차원 평면상에서 실루엣 정보를 이용한 3차원 구조 복원방법
CN102222352B (zh) * 2010-04-16 2014-07-23 株式会社日立医疗器械 图像处理方法和图像处理装置
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CN105678753B (zh) * 2015-12-31 2019-07-02 百度在线网络技术（北京）有限公司 一种物体分割方法及装置
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US11341663B2 (en) * 2019-06-03 2022-05-24 Zebra Technologies Corporation Method, system and apparatus for detecting support structure obstructions

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113298866A (zh) * 2021-06-11 2021-08-24 梅卡曼德（北京）机器人科技有限公司 物体分类方法及装置

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EP3971829A4 (en) 2023-01-18
US11869143B2 (en) 2024-01-09
EP3971829A1 (en) 2022-03-23
WO2020258314A1 (zh) 2020-12-30
EP3971829C0 (en) 2024-01-31
EP3971829B1 (en) 2024-01-31
US20220358717A1 (en) 2022-11-10

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