Multi-station scanning global point cloud registration method based on graph optimization
US11037346B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 20, 2020 |
| Grant date | Jun 15, 2021 |
| Priority date | — |
| Expiry date | Sep 20, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2210/12
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Disclosed a multi-station scanning global point cloud registration method based on graph optimization, including acquiring multi-station original three-dimensional point cloud data; based on initial registration of targets, completing initial registration of point cloud data at adjacent stations by virtue of the target at each angle of view; calculating a point cloud overlap area at adjacent angles of view, and calculating areas of overlap regions of adjacent point cloud by a gridded sampling method; constructing a fine registration graph structure, and constructing a fine registration graph by taking point cloud data of each station as a node of the graph and taking an overlap area of the point cloud data of adjacent stations as a side of adjacent nodes of the graph structure; and based on loop closure fine registration based on graph optimization, gradually completing point cloud fine registration of the whole aircraft according to a specific closure sequence.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.