TW201215905A - Structuring method of three-dimensional point cloud - Google Patents

Structuring method of three-dimensional point cloud Download PDF

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Publication number
TW201215905A
TW201215905A TW099134592A TW99134592A TW201215905A TW 201215905 A TW201215905 A TW 201215905A TW 099134592 A TW099134592 A TW 099134592A TW 99134592 A TW99134592 A TW 99134592A TW 201215905 A TW201215905 A TW 201215905A
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Taiwan
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dimensional
point cloud
cloud data
sampling
dimensional point
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TW099134592A
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Chinese (zh)
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TWI401459B (en
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Tsung-Chiang Wu
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Univ Nat Quemoy
Tsung-Chiang Wu
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

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Abstract

A structuring method of three-dimensional point cloud is disclosed, which is mainly to perform a structuring process on the three-dimensional point cloud data structure established through a laser scanner. During the structuring process, a three-dimensional range with a predetermined volume must first be selected, three basis points in the three-dimensional range are chosen to construct a basis plane, and through the plane extending to both sides to obtain a three-dimensional computing range, and then, arranging a plurality of sampling points in the three-dimensional computing range, and each sampling point is calculated based on the three-dimensional point cloud data encompassed by the sampling radius, and the center of mass of these three-dimensional point cloud data is obtained in order to generate a structural point. Furthermore, connecting the structural points thus obtained into a structure, the present invention will proceed the structural connection for the three-dimensional point cloud data distributed all over the three-dimensional computing range, thus enabling the three-dimensional point cloud data to be accurately analyzed, while greatly reducing the time spent and manpower required.

Description

201215905 發明說明 【發明所屬之技術領域】 本發明係與立體點雲資料有關， 分析結構化之域點雲結構化之方法。a可將立體點雲資料 【先前技術】 習知立體點雲資料主要係透過雷射 立起立體點雲資料’藉此，可達到非接觸;之立建 佈在立體空間中之資 資料，故對於立體點雲資料在分析 準確取得 時間及人力去進行，此已诰A 、 4彺而要化費相當多的 【發明内容】“成相當大的困擾及成本浪費。 本發明主要目的在提供—種立體點雲結構化 雲資料可被準確分析計算。 /並使立體點 =狄讀轉結構化之綠，制包含—取縣 建立基礎平面步驟、一建立立體 ，’ 體點雲諸’並針對該標的物之特定位置選縣得—立 同時’於該立體區間内任音撰 體£間’ 制1^、^ 選‘上硕之麵點，並透過該箄 基礎點之連結’簡成—位_立寵胁 U等 步驟及一_、嫌咖，料，縣㈣=鱗建=點 個立體點愛咨紐... 70 心的物知描取得多數 Α璨芈而炎並准 體區間内之基礎平面，另，再以該 直向該基礎平面兩側延伸1距離，以構成一立 點:=樣==算區間内卿數個取樣點，而每-取樣 將該取樣抑內二“佈滿於該立體運异區間内，同時，該取樣點係 t如工内所涵盍之立體點雲資料 崎编_娜，故2=2 201215905 • 結結構化。 .本發明雜躺於該讀運算師内之立_ 使該等立體點雲資料可被準確分析，同^ 2連結 需耗費之時間及人力。 八心減少所 f實施方式】 其係— ®獅，為第—®係本㈣之流程方塊圖 本步驟S1、—建立基礎平面轉S2、^ §，區間步驟S3、—建立結構點步驟54及一、_^ 上述，縣娜賴版蝴，執行 架，且該立體區間30係圍繞包含該標的物^築物100外所架設之鹰 立體區門30 Hi面步驟& :請同時配合參閱第三圖所示，係於詨 點3;結，以構點以上不同之基礎點31，並透過該等： 位於該立體區間3°内之基礎平面32。 ㈣且也 體運鼻區間步驟S3 :請同時配合參閱第四圖所千必 乂該基礎平面32為基 SU不’係 以構成-立體運算區間4G垂直⑽基礎千面32兩侧延伸—定距離， 於該立體n^tms4㈣時配合相第五及第六騎示，係 -取樣半徑涵蓋^内^置多數個取樣點4:1 ’而每—取樣點41並以 一取樣點41之取樣丰立體運算區間40内，而於本發明實施例中每 立體點雲資料2〇進^為相同’同時’再將該取樣半徑内所涵蓋之 進仃汁异，且取得該等立體點雲資料2〇之質量中代】 4 201215905 點而產生形成—結構點5〇，該等結構點5〇係依所包含之立體點赉次 •料20多寡而有大小區別。 為貝 E、結構點結構化步驟邠：請同時配合參閱第六圖所示 述結構點50相互縱橫雜並形絲構化。 、 茲，再將本發明之特徵及其可達成之預期功效陳述如下： 、本發料過上述步㈣鮮讀點雲諸建立縣乡數結構點， 並使該等結構點連結結構化，*使料立體點 同時，並大幅減少所需耗費之時間及人力。 析， #、綜上所述，本發明在同類產品中實有其極佳之進步實用性，同時 遍查國内外關於此赌構之技術資料，讀巾絲發現有相同的構造 存在在先、，是以，本發明實已具備發明專利要件，爰依法提出申請。 惟’以上騎者’健本發明之—較佳可行實施綱已，故舉凡 應用本發明說明書及巾請專利範騎為之等效結構變化，理應包含在 本發明之專利範圍内。 201215905 【圖式簡單說明】 第一圖係本發明之流程方塊圖。 第二圖係本發明取得基礎樣本之示意圖。 第三圖係本發明建立基礎平面之示意圖。 第四圖係本發明建立立體運算區間之示意圖。 第五圖係本發明建立結構點之示意圖。 第六圖係本發明結構點結構化之示意圖。201215905 DESCRIPTION OF THE INVENTION [Technical Field According to the Invention] The present invention relates to a method for analyzing a structured point cloud structure in relation to a stereo point cloud data. a can be used for stereoscopic point cloud data [previous technique] The conventional stereo point cloud data is mainly used to establish stereoscopic point cloud data through lasers, thereby achieving non-contact; For the three-dimensional point cloud data in the analysis of the accurate time and manpower to carry out, this has been a 、A, 4彺 and a considerable amount of [inventory content] "to become a considerable problem and cost waste. The main purpose of the present invention is to provide - A kind of three-dimensional point cloud structured cloud data can be accurately analyzed and calculated. / And make the stereo point = Di read to structure green, the system includes - take the county to establish the basic plane steps, establish a stereo, 'body point cloud' and target The specific position of the subject matter is selected by the county, and at the same time, 'in the stereoscopic interval, the syllabary of the syllabary is set to 1^, ^ select 'the point of the master's face, and through the link of the 箄 foundation point' _ Li pet threat U and other steps and a _, suspected coffee, material, county (four) = scale construction = point a three-dimensional point of love counseling ... 70 heart of the knowledge of the description of the majority of the sputum and inflammation within the body The base plane, and then the straight to the base plane Extending a distance to form a vertex: = sample == counts a number of sampling points in the interval, and each sampling takes "sampling" within the stereoscopic interval, and at the same time, the sampling point is t If the work is covered by the three-dimensional point cloud data _ _ Na, so 2 = 2 201215905 • Structured. The invention resides in the reading operator _ so that the stereo point cloud data can be accurately analyzed, and it takes time and manpower to connect with the ^2. The implementation of the eight-heart reduction f] The system - the lion, is the process block diagram of the first - (4) of this section (4), step S1, - establish the basic plane to S2, ^ §, the interval step S3, - establish the structure point step 54 and I. _^ Above, the county Na Lai version of the butterfly, the execution frame, and the three-dimensional section 30 is surrounded by the eagle three-dimensional area door erected outside the object containing the object 100. Step: & : Please also refer to As shown in the three figures, it is at the point 3; the knot, which is the base point 31 which is different from the above, and passes through the base plane 32 which is located within 3° of the solid section. (4) Also in the nose section S3: Please also refer to the fourth diagram. The base plane 32 is the base SU is not configured to form - the stereo operation interval 4G vertical (10) the base surface 32 extensions on both sides - the fixed distance , in the three-dimensional n^tms4 (four) with phase fifth and sixth riding, the system-sampling radius covers ^ inside the majority of sampling points 4:1 ' and each sampling point 41 and a sample point 41 sampling In the stereoscopic operation section 40, in the embodiment of the present invention, each stereo point cloud data 2 is merged into the same 'simultaneous' and then the sampling radius is covered, and the stereo point cloud data is obtained. The quality of the 中 】 】 4 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 2012 For the shell E, the structure of the structural point 邠: Please also refer to the structure of the structure 50 as shown in the sixth figure. Further, the characteristics of the present invention and the expected efficacies thereof can be stated as follows: The present material has passed the above steps (4). The fresh reading point cloud establishes the number of structural points of the county and the town, and links the structural points to the structure, * Make the material stereo point at the same time, and greatly reduce the time and labor required. Analysis, #, In summary, the present invention has excellent progress and practicality in the same kind of products, and at the same time, inspecting the technical materials of the gambling at home and abroad, the reading of the silk has found that the same structure exists first, Therefore, the present invention already has the invention patent requirements, and the application is filed according to law. However, the above-mentioned rider's invention is a preferred embodiment of the present invention. Therefore, the equivalent structural change of the patent specification is applicable to the application of the present specification and the towel, and it is intended to be included in the patent scope of the present invention. 201215905 [Simplified description of the drawings] The first figure is a block diagram of the flow of the present invention. The second figure is a schematic diagram of the basic sample obtained by the present invention. The third figure is a schematic diagram of the basic plane of the present invention. The fourth figure is a schematic diagram of the stereoscopic operation interval of the present invention. The fifth figure is a schematic diagram of the construction of the structure of the present invention. The sixth figure is a schematic diagram of the structural point structure of the present invention.

【主要元件符號說明】 S1 取得基礎樣本步驟 S2 建立基礎平面步驟 S3 建立立體運算區間步驟 S4 建立結構點步驟 S5 結構點結構化步驟 10 標的物 20 立體點雲資料 30 立體區間 31 基礎點 32 基礎平面 40 立體運算區間 41 取樣點 50 結構點 100 建築物[Main component symbol description] S1 Get the basic sample Step S2 Establish the basic plane Step S3 Establish the stereo operation interval Step S4 Establish the structure point Step S5 Structure point structure step 10 Target object 20 Stereo point cloud data 30 Stereo interval 31 Base point 32 Base plane 40 Stereo calculation interval 41 Sampling point 50 Structure point 100 Building

Claims (1)

201215905 七 申請專利範圍： 1、一種立體點雲結構化之方法，其主要係包含下列步驟： 資料A :先針對一標的物掃描取得多數個立體點雲 貝料並針_標的物之蚊位置稱取得—立體區間； 建礎平面步驟：於該立體區肋任意選取三點以上不同之 =錢卿她嫩，顺—蝴塊_之基 平面m域轉11财驟··㈣频平面躲準售向該美礎 千面兩侧延伸-定距離，以構成-立體運算區間； 基礎 每-取該立體運算區間内設置多數個取樣點，而 將該取樣半徑_涵蓋之讀運算區_，同時，再 雲資料之㈣·她=，絲彳爾立體點 構點連結結構化。 該標的物係為-建雜外所麟之㈣。體點雲結構化之方法，其中， =申請專利範圍第i項所述之立體 母一取樣點触樣半㈣為_。 ^構化之方法，其中，201215905 Seven patent application scope: 1. A method for stereoscopic point cloud structuring, which mainly includes the following steps: Data A: Firstly, a plurality of stereo point cloud beakers are obtained for scanning a target object, and the mosquito position of the needle _ target object is called Acquired - the three-dimensional interval; the foundation plane step: arbitrarily select three or more points in the three-dimensional zone ribs = Qian Qing, her tender, shun - butterfly block _ the base plane m domain turn 11 wealth · (4) frequency plane to hide Extending the distance to both sides of the US-based surface to form a stereo operation interval; the base per-taking the plurality of sampling points in the stereo operation interval, and the sampling radius _ covers the read operation area _, Re-cloud data (four) · her =, the silk three-dimensional point structure linkage structure. The subject matter of the subject is - built by the foreign company (4). The method of physico-physical cloud structuring, wherein, the three-dimensional mother-sampling point described in item i of the patent application scope is half (four) is _. ^The method of construction, in which
TW099134592A 2010-10-11 2010-10-11 The Method of Stereo Point Cloud Structure TWI401459B (en)

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US7257249B2 (en) * 2002-06-12 2007-08-14 Spatial Integrated Systems, Inc. Discrete linear space sampling method and apparatus for generating digital 3D models
CN101127031B (en) * 2006-08-18 2011-05-04 鸿富锦精密工业（深圳）有限公司 Point cloud data mean value filtering system and method
TWI402765B (en) * 2007-09-28 2013-07-21 Hon Hai Prec Ind Co Ltd Method for aligning point clouds optimally
TWI450216B (en) * 2008-08-08 2014-08-21 Hon Hai Prec Ind Co Ltd Computer system and method for extracting boundary elements

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