CN110458764A - A kind of point cloud data smoothing method based on morphology graphics process - Google Patents
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Abstract
The present invention discloses a kind of point cloud data smoothing method based on morphology graphics process, comprising: is based on Octree algorithm for point cloud data voxelization；On the basis of voxelization point cloud data, traversal extracts boundary voxel, chooses the point set of surface and corner points as the candidate feature point being smoothed；Operation and closed operation are carried out out to candidate feature point using three dimensional morphology operator, to reach to the smooth of point cloud data, denoising and surface reconditioning.The present invention can reach to the smooth of point cloud data, denoising and surface reconditioning effect.
Description
Technical field
The present invention relates to laser radar point cloud data processing technology fields, are based on morphology figure more particularly to one kind
The point cloud data smoothing method of processing.
Background technique
Laser scanning and ranging technology (LiDAR) is used as New Remote Sensing Technology, because of its high-precision and high efficiency and convenient
Property, it is explored in mapping, automatic Pilot, meteorology detection, building geometrical model is built etc. becomes the weight of every profession and trade circle research
Point direction, LiDAR are a kind of methods quickly, safe, can capture the three-dimensional information of target scene.
The point cloud data that laser scanning obtains includes the spatial information abundant and surface profile information of object.It is building
Object three-dimensional modeling is built, automatic Pilot, high-precision map, the fields such as environment real time monitoring have played crucial effect.Determine point cloud
Neighborhood relationships between midpoint, referred to as topology estimation, is an important problem, because it indicate that the fabric of point cloud,
This can further disclose the semantic information of a cloud.Feature can be preferably completed using the semantic information of point cloud data to identify
Detection, the work such as registration of point cloud data, thus boosting algorithm effect.And the sparsity and scrambling of point cloud data itself,
Continuous whole space topological information is caused to lack in point cloud data.
Surface must be smoothed and loophole reparation to establish complete model.It is additionally swept not can be carried out
It, can be by solving the problems, such as this to data resampling in the case where retouching, resampling methods are by carrying out ambient data point
Highe order polynomial interpolation rebuilds the part that surface lacks.Currently, the method for resampling taken for sparse point cloud data has
Neighbor interpolation method, PU-Net up-sampling etc..And these algorithms lack accurate expansion there are regional area, to generate some non-
Ideal the problems such as expanding point or can not be to the filling of loophole and lack part in data.
Summary of the invention
In view of the technical drawbacks of the prior art, it is an object of the present invention to provide one kind to be based on morphology figure
The point cloud data smoothing method of processing, algorithm of this method based on Octree algorithm combination three dimensional morphology image procossing come pair
Point cloud carries out accurate smooth, denoising and repair process, can quickly position object and carry out smooth and denoising to it.
The technical solution adopted to achieve the purpose of the present invention is:
A kind of point cloud data smoothing method based on morphology graphics process, comprising:
Based on Octree algorithm by point cloud data voxelization；
On the basis of voxelization point cloud data, traversal extracts boundary voxel, chooses the point set on surface and corner points
As the candidate feature point being smoothed；
Operation and closed operation are carried out out to candidate feature point using three dimensional morphology operator, to reach to point cloud data
It is smooth, denoising and surface reconditioning.
Preferably, the three dimensional morphology operator is the three-dimensional ball that a radius is r.
Specifically, described, based on Octree algorithm, by point cloud data voxelization r, steps are as follows:
1) sets maximum depth of recursion, to determine the bounding box size of the smallest subspace；
2) is using the maximum cube of the size comprising object as root node or zero level node；
3) sequentially the identity element in point cloud data is placed into can include and the not no cube of child node refer to by
The coordinate for wanting storage is referred to the bounding box of affiliated child node；
If 4) does not reach maximum depth of recursion, the cube is just subdivided into eight equal portions, then included by the cube
Identity element all grouping to eight sub-cubes；
5) then should if it is determined that identity element quantity assigned by sub-cube is not zero and as father's cube
Sub-cube stops subdivision；
6) repeats the 3) step, until up to maximum depth of recursion.
The present invention proposes that, based on the corrosion in two dimensional image processing, expanding processing is creatively applied to three-dimensional point
In cloud data, solve data noise in LiDAR data, the FAQs such as shortage of data；Wherein, holding operation generally can be smooth
The profile of object disconnects relatively narrow narrow neck and eliminates thinner protrusion.Smooth surface, the effect of denoising can be reached；It closes
Operation antithesis is operated and opens, and closed operation would generally make relatively narrow interruption and elongated gully up, eliminate lesser hole, fill out
Mend the interruption in contour line.
The present invention proposes the division methods based on Octree algorithm, makes each element in point cloud data in tree construction
In, each element can be quickly navigated to, and time complexity is small, improves efficiency of algorithm；
Invention applies 3-d mathematics morphology, it is effectively applied to the processing of the corner points in data, is provided new
Application mode.
Detailed description of the invention
Fig. 1 is the principle flow chart figure that point cloud data of the invention smoothly repairs algorithm；
Fig. 2 is Octree algorithm principle figure；
Fig. 3 is the exemplary diagram of the voxelization of point cloud data (by taking the point cloud data of rabbit as an example)；
Fig. 4 is to open operation geometric interpretation schematic diagram；
Fig. 5 is closed operation geometric interpretation figure；
Fig. 6 is etching operation schematic diagram.
Specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.It should be appreciated that described herein
Specific embodiment be only used to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1, a kind of laser radar point cloud data smoothing method based on Octree algorithm of the invention, including
The following steps are rapid:
Based on Octree algorithm by the point cloud data voxelization of input；
On the basis of voxelization point cloud data, traversal extracts boundary voxel, chooses the point set on surface and corner points
As the candidate feature point being smoothed；
Operation and closed operation are carried out out to candidate feature point using three dimensional morphology operator, to reach to point cloud data
It is smooth, denoising and surface reconditioning.
Wherein, Octree (Octree) is a kind of for describing the tree data structure of three-dimensional space.Octree structure is logical
It crosses and volume elements subdivision, each volume elements Time & Space Complexity having the same, by following is carried out to the geometry entity of three-dimensional space
The recursive division methods of ring carry out subdivision to the geometric object of three-dimensional space, so that the directional diagram with root node is constituted,
As shown in Figure 2.
The process decomposed based on Octree algorithm to the three-dimensional space C comprising object is voxelization, i.e., first really
It surely include the minimum closed cube of object, as root node or zero level node.Root node recursion is eight daughters
Element continues to divide to nonvoid set, terminates and divides when reaching the standard of minimum voxel size until dividing, as shown in Figure 2.At this point,
Point cloud data as object completes segmentation, and the orientation in space both determined.
Using Octree algorithm to object voxelization after, traversal extract boundary voxel, select target surface and corner
Candidate feature point of the point set A of point as smoothing processing, that is, the target point being smoothed.
The language of mathematical morphology is set theory.Equally, point cloud data also refers to one in a three-dimensional coordinate system
The set of group vector.This greatly facilitates Point Cloud Processing and is integrated in mathematical morphology, to carry out to point cloud data
Set operation.
By two dimensional image handle in expansion, corrosion etc. grown forms handle inspiration.Invention is based on three dimensional morphology
Designing the three-dimensional ball that a radius is r, i.e. three-dimensional structure member B carries out three dimensional morphology processing to the point in candidate point set A, from
And realize the smooth reparation algorithm at point cloud data surface and boundary point.
Expansion, corrodes the fundamental operation for Morphological scale-space, and above-mentioned image is opened, and closed operation is all based on the two originals
Begin based on operating.As the set A, B in the three-dimensional space C comprising object.
It is defined as corrosion of the B to A, i.e., includes the set of all point z in A with the B that z is translated, as shown in Figure 6.
Be defined as expansion of the B to A, i.e., all set for being displaced z, in this wayClosing at least one element of A is overlapping.It is rotten
Erosion is each other antithesis about set operation with expansion.
Based on basal morphological processing, structural elements B opens operation to Candidate Set A's, and B first corrodes A, then again to A
Expansive working is carried out, A ° of B is represented by.It is defined as follows:
Closed operation of the structural elements B to Candidate Set A is expressed as AB, is defined as follows with opening operation antithesis:
After above-mentioned open and close operation, it can remove the noise in data and repair some holes, between surface
It is disconnected, to achieve the effect that smooth repair data, such as Fig. 4, Fig. 5.
Fig. 3 is point cloud data voxelization, i.e., by the effect after Octree algorithm partition.By the point cloud data voxel of input
Change, the construction step of the Octree algorithm is specific as follows:
1, maximum depth of recursion is set, which dictates that the bounding box size of the smallest subspace.
2, using the maximum scene of the size comprising object as root node, cube or cuboid be can be.
3, being sequentially placed into identity element can include and the not no cube of child node, refer to the point of desired storage
The space coordinate of point in cloud data is referred to the bounding box of affiliated child node.
If 4, not reaching maximum depth of recursion, just it is finely divided as eight equal portions, then the identical element for being included by the cube
Plain all groupings are to eight sub-cubes.
5. then should if it is determined that identity element quantity assigned by sub-cube is not zero and as father's cube
Sub-cube stopping subdivision (because according to space segmentation theory, the obtained distribution in the space of subdivision must be less, if one
The number of sample, then how to cut, number is still the same).
6, step 3 is repeated, until reaching maximum depth of recursion.
By above as can be seen that the present invention extracts boundary voxel block by traversing to ready-portioned region,
It chooses included point and is expressed as the candidate point set A being smoothed, then with designed three-dimensional structure member B, to candidate point
Point set in collection A carries out out operation and closed operation, is finally reached to the smooth of point cloud data, denoising and surface reconditioning effect.
The above is only a preferred embodiment of the present invention, it is noted that for the common skill of the art
For art personnel, various improvements and modifications may be made without departing from the principle of the present invention, these are improved and profit
Decorations also should be regarded as protection scope of the present invention.
Claims (3)
1. a kind of point cloud data smoothing method based on morphology graphics process, which is characterized in that comprising steps of
Based on Octree algorithm by point cloud data voxelization；
On the basis of voxelization point cloud data, traversal extracts boundary voxel, chooses the point set conduct on surface and corner points
The candidate feature point being smoothed；
Operation and closed operation are carried out out to candidate feature point using three dimensional morphology operator, point cloud data is put down to reach
Sliding, denoising and surface reconditioning.
2. according to claim 1 based on the point cloud data smoothing method of morphology graphics process, which is characterized in that described three
Dimension morphological operator is the three-dimensional ball that a radius is r.
3. according to claim 1 based on the point cloud data smoothing method of morphology graphics process, which is characterized in that described
Based on Octree algorithm, by point cloud data voxelization r, steps are as follows:
1) sets maximum depth of recursion, to determine the bounding box size of the smallest subspace；
2) is using the maximum cube of the size comprising object as root node or zero level node；
3) it can include and the not no cube of child node that referring to will want that the identity element in point cloud data is sequentially placed by
The coordinate of storage is referred to the bounding box of affiliated child node；
If 4) does not reach maximum depth of recursion, the cube is just subdivided into eight equal portions, then the unit for being included by the cube
Element is all grouped to eight sub-cubes；
5) is if it is determined that identity element quantity assigned by sub-cube is not zero and as father's cube, then the son is vertical
Cube stops subdivision；
6) repeats the 3) step, until up to maximum depth of recursion.
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Cited By (8)
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| CN110942077A (en) * | 2019-12-11 | 2020-03-31 | 南京航空航天大学 | Feature line extraction method based on weight local change degree and L1 median optimization |
| CN112884884A (en) * | 2021-02-06 | 2021-06-01 | 罗普特科技集团股份有限公司 | Candidate region generation method and system |
| CN113100942A (en) * | 2021-04-12 | 2021-07-13 | 中国科学院苏州生物医学工程技术研究所 | Laser point identification method and SS-OCT operation navigation system using same |
| CN113434514A (en) * | 2021-07-19 | 2021-09-24 | 中海油能源发展装备技术有限公司 | Voxelization index and output method of offshore oil and gas field point cloud model |
| CN115077437A (en) * | 2022-05-13 | 2022-09-20 | 东北大学 | Rock hydraulic fracturing crack morphology characterization method based on acoustic emission positioning constraint |
| CN115564661A (en) * | 2022-07-18 | 2023-01-03 | 武汉大势智慧科技有限公司 | Automatic restoration method and system for building glass area vertical face |
| CN116628863A (en) * | 2023-07-24 | 2023-08-22 | 中汽研（天津）汽车工程研究院有限公司 | Method, device and medium for determining wind resistance coefficient of vehicle |
| CN117576087A (en) * | 2024-01-15 | 2024-02-20 | 海克斯康制造智能技术(青岛)有限公司 | Object surface convexity detection method based on point cloud normal |
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| CN110942077A (en) * | 2019-12-11 | 2020-03-31 | 南京航空航天大学 | Feature line extraction method based on weight local change degree and L1 median optimization |
| CN112884884A (en) * | 2021-02-06 | 2021-06-01 | 罗普特科技集团股份有限公司 | Candidate region generation method and system |
| CN113100942A (en) * | 2021-04-12 | 2021-07-13 | 中国科学院苏州生物医学工程技术研究所 | Laser point identification method and SS-OCT operation navigation system using same |
| CN113434514A (en) * | 2021-07-19 | 2021-09-24 | 中海油能源发展装备技术有限公司 | Voxelization index and output method of offshore oil and gas field point cloud model |
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| CN115564661A (en) * | 2022-07-18 | 2023-01-03 | 武汉大势智慧科技有限公司 | Automatic restoration method and system for building glass area vertical face |
| CN115564661B (en) * | 2022-07-18 | 2023-10-10 | 武汉大势智慧科技有限公司 | Automatic repairing method and system for building glass area elevation |
| CN116628863A (en) * | 2023-07-24 | 2023-08-22 | 中汽研（天津）汽车工程研究院有限公司 | Method, device and medium for determining wind resistance coefficient of vehicle |
| CN116628863B (en) * | 2023-07-24 | 2023-09-26 | 中汽研（天津）汽车工程研究院有限公司 | Method, device and medium for determining wind resistance coefficient of vehicle |
| CN117576087A (en) * | 2024-01-15 | 2024-02-20 | 海克斯康制造智能技术(青岛)有限公司 | Object surface convexity detection method based on point cloud normal |
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