CN111968161A - Registration method, device and equipment for three-dimensional laser point cloud and panoramic image - Google Patents
Registration method, device and equipment for three-dimensional laser point cloud and panoramic image Download PDFInfo
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- CN111968161A CN111968161A CN202010736839.7A CN202010736839A CN111968161A CN 111968161 A CN111968161 A CN 111968161A CN 202010736839 A CN202010736839 A CN 202010736839A CN 111968161 A CN111968161 A CN 111968161A
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- G06—COMPUTING OR CALCULATING; COUNTING
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- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
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- G06T2207/00—Indexing scheme for image analysis or image enhancement
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- G06T2207/10028—Range image; Depth image; 3D point clouds
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- G06T2207/00—Indexing scheme for image analysis or image enhancement
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Abstract
The invention relates to a registration method of three-dimensional laser point cloud and panoramic image, which comprises the steps of obtaining three-dimensional laser point cloud data and panoramic image of a shooting object; performing two-dimensional projection on the three-dimensional laser point cloud data to obtain a corresponding two-dimensional gray image; extracting first feature point data in the two-dimensional gray level image, and determining second feature point data in the panoramic image according to the first feature point data; and obtaining registration images of the three-dimensional laser point cloud data and the panoramic image according to the first characteristic point data, the second characteristic point data, the panoramic image and the three-dimensional laser point cloud data. The invention realizes the generation of accurate and real three-dimensional world and provides good data support for the construction of virtual three-dimensional environment. The invention also relates to a registration device and equipment of the three-dimensional laser point cloud and the panoramic image.
Description
Technical Field
The invention relates to the technical field of image processing, in particular to a method, a device and equipment for registering three-dimensional laser point cloud and panoramic image.
Background
In recent years, three-dimensional laser scanning technology is continuously developed and is more and more widely applied to the fields of digital cities, cultural relic protection, three-dimensional reconstruction and the like. The three-dimensional laser scanner is used as an important means for acquiring three-dimensional space data, the space geometric information of an object can be quickly, accurately and massively acquired, the high-resolution digital camera can acquire high-quality two-dimensional texture data, and the two data have complementarity on the description of a target. How to perform fusion processing on three-dimensional spatial data and a panoramic image is a technical problem which needs to be solved urgently at present.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art and provides a method, a device and equipment for registering three-dimensional laser point cloud and panoramic images.
The technical scheme for solving the technical problems is as follows:
a registration method of a three-dimensional laser point cloud and a panoramic image comprises the following steps:
acquiring three-dimensional laser point cloud data and a panoramic image of a shooting object;
performing two-dimensional projection on the three-dimensional laser point cloud data to obtain a corresponding two-dimensional gray image;
extracting first feature point data in the two-dimensional gray level image, and determining second feature point data in the panoramic image according to the first feature point data;
and obtaining registration images of the three-dimensional laser point cloud data and the panoramic image according to the first characteristic point data, the second characteristic point data, the panoramic image and the three-dimensional laser point cloud data.
The invention has the beneficial effects that: the registration method comprises the steps of obtaining three-dimensional laser point cloud data of a shooting object and a panoramic image of the shooting object, conducting two-dimensional projection on the three-dimensional laser point cloud data to obtain a corresponding two-dimensional gray image, extracting first feature point data in the two-dimensional gray image, determining second feature point data in the panoramic image according to the first feature point data, obtaining a registration image according to the first feature point data and the second feature point data, achieving the purpose of generating an accurate and real three-dimensional world, and providing good data support for the construction of a virtual three-dimensional environment.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the two-dimensional projection of the three-dimensional laser point cloud data to obtain a corresponding two-dimensional gray image specifically includes:
performing orthogonal projection on the three-dimensional laser point cloud data to obtain a two-dimensional image corresponding to the three-dimensional laser point cloud data;
and carrying out graying processing on the two-dimensional image to obtain a corresponding two-dimensional gray image.
Further, the extracting first feature point data in the two-dimensional grayscale image and determining second feature point data in the panoramic image according to the first feature point data specifically include:
selecting a control point on the shot object, and extracting corresponding first characteristic point data in the two-dimensional gray image according to the control point;
extracting feature point data corresponding to the control points in the panoramic image;
and matching the feature point data with the first feature point data by using the Euclidean distance to obtain second feature point data.
Further, the air conditioner is provided with a fan,
the obtaining of the registration image of the three-dimensional laser point cloud data and the panoramic image according to the first feature point data, the second feature point data, the panoramic image and the three-dimensional laser point cloud data specifically includes:
calculating a transformation matrix between the first characteristic point and the second characteristic point by using a random sampling consistency algorithm;
obtaining attitude data of the camera according to the transformation matrix;
and matching the space position coordinates in the three-dimensional laser point cloud data with the space position coordinates in the panoramic image according to the attitude data of the camera to obtain a registration image of the three-dimensional laser point cloud data and the panoramic image.
Further, the acquiring three-dimensional laser point cloud data of the shooting object specifically includes:
and horizontally rotating the shooting object for a circle by using a three-dimensional laser scanner and a camera to obtain the three-dimensional laser point cloud data of the shooting object.
Another technical solution of the present invention for solving the above technical problems is as follows:
a registration device of three-dimensional laser point cloud and panoramic image comprises:
the system comprises an acquisition module, a storage module and a display module, wherein the acquisition module is used for acquiring three-dimensional laser point cloud data of a shot object and a panoramic image of the shot object;
the image processing module is used for performing two-dimensional projection on the three-dimensional laser point cloud data to obtain a corresponding two-dimensional gray image;
and the registration module is used for obtaining registration images of the three-dimensional laser point cloud data and the panoramic image according to the first characteristic point data, the second characteristic point data, the panoramic image and the three-dimensional laser point cloud data.
The invention has the beneficial effects that: the registration device comprises a three-dimensional laser point cloud data acquisition unit, a two-dimensional projection unit, a two-dimensional gray image acquisition unit, a registration image acquisition unit, a three-dimensional laser point cloud processing unit and a three-dimensional image acquisition unit, wherein the three-dimensional laser point cloud data acquisition unit is used for acquiring three-dimensional laser point cloud data of a shooting object and a panoramic image of the shooting object, performing two-dimensional projection on the three-dimensional laser point cloud data to obtain a corresponding two-dimensional gray image, extracting first feature point data in the two-dimensional gray image, determining second feature point data in the panoramic image according to the first feature point data, and acquiring the registration image according to the first feature point data and the second feature point data.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the image processing module is specifically configured to perform orthogonal projection on the three-dimensional laser point cloud data to obtain a two-dimensional image corresponding to the three-dimensional laser point cloud data;
and carrying out graying processing on the two-dimensional image to obtain a corresponding two-dimensional gray image.
Further, the registration module is specifically configured to select a control point on the photographic object, and extract first feature point data corresponding to the two-dimensional grayscale image according to the control point;
extracting feature point data corresponding to the control points in the panoramic image;
and matching the feature point data with the first feature point data by using the Euclidean distance to obtain second feature point data.
The present application further provides a computer-readable storage medium, comprising instructions, which when run on a computer, cause the computer to perform the steps of the method for registering a three-dimensional laser point cloud and a panoramic image according to any one of the above technical solutions.
In addition, this application still provides a registration equipment of three-dimensional laser point cloud and panoramic image, includes:
a memory for storing a computer program;
a processor, configured to implement the steps of the registration method of the three-dimensional laser point cloud and the panoramic image according to any one of the above technical solutions when executing the computer program.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention or in the description of the prior art will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a registration method of a three-dimensional laser point cloud and a panoramic image according to an embodiment of the present invention;
fig. 2 is a block diagram of a registration apparatus for a three-dimensional laser point cloud and a panoramic image according to another embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
As shown in fig. 1, which is a schematic flow chart of a registration method of a three-dimensional laser point cloud and a panoramic image according to an embodiment of the present invention, the registration method of the three-dimensional laser point cloud and the panoramic image includes the following steps:
110. and acquiring three-dimensional laser point cloud data and a panoramic image of the shot object.
120. And performing two-dimensional projection on the three-dimensional laser point cloud data to obtain a corresponding two-dimensional gray image.
130. And extracting first feature point data in the two-dimensional gray level image, and determining second feature point data in the panoramic image according to the first feature point data.
140. And obtaining registration images of the three-dimensional laser point cloud data and the panoramic image according to the first characteristic point data, the second characteristic point data, the panoramic image and the three-dimensional laser point cloud data.
The registration method of the three-dimensional laser point cloud and the panoramic image based on the embodiment comprises the steps of obtaining three-dimensional laser point cloud data of a shooting object and the panoramic image of the shooting object, conducting two-dimensional projection on the three-dimensional laser point cloud data to obtain a corresponding two-dimensional gray image, extracting first feature point data in the two-dimensional gray image, determining second feature point data in the panoramic image according to the first feature point data, obtaining a registration image according to the first feature point data and the second feature point data, achieving the purpose of generating an accurate and real three-dimensional world, and providing good data support for the construction of a virtual three-dimensional environment.
Based on the foregoing embodiment, further, step 120 specifically includes:
performing orthogonal projection on the three-dimensional laser point cloud data to obtain a two-dimensional image corresponding to the three-dimensional laser point cloud data;
and carrying out graying processing on the two-dimensional image to obtain a corresponding two-dimensional gray image.
Further, step 130 specifically includes:
selecting a control point on the shot object, and extracting corresponding first characteristic point data in the two-dimensional gray image according to the control point;
extracting feature point data corresponding to the control points in the panoramic image;
and matching the feature point data with the first feature point data by using the Euclidean distance to obtain second feature point data.
Further, step 130 specifically includes:
calculating a transformation matrix between the first characteristic point and the second characteristic point by using a random sampling consistency algorithm;
obtaining attitude data of the camera according to the transformation matrix;
matching the space position coordinates in the three-dimensional laser point cloud data with the space position coordinates in the panoramic image according to the attitude data of the camera to obtain a registration image of the three-dimensional laser point cloud data and the panoramic image
Further, step 110 specifically includes:
and horizontally rotating the three-dimensional laser scanner and the camera for one circle to obtain panoramic three-dimensional point cloud scanned by the three-dimensional laser scanner and three-dimensional laser point cloud data of the shooting object.
As shown in fig. 2, a block structure diagram of a registration apparatus for a three-dimensional laser point cloud and a panoramic image according to another embodiment of the present invention is shown, the registration apparatus for a three-dimensional laser point cloud and a panoramic image includes:
the system comprises an acquisition module, a storage module and a display module, wherein the acquisition module is used for acquiring three-dimensional laser point cloud data of a shot object and a panoramic image of the shot object;
the image processing module is used for performing two-dimensional projection on the three-dimensional laser point cloud data to obtain a corresponding two-dimensional gray image;
and the registration module is used for obtaining registration images of the three-dimensional laser point cloud data and the panoramic image according to the first characteristic point data, the second characteristic point data, the panoramic image and the three-dimensional laser point cloud data.
The registration device for the three-dimensional laser point cloud and the panoramic image comprises a three-dimensional laser point cloud data acquisition unit, a two-dimensional projection unit, a two-dimensional gray image acquisition unit, a three-dimensional laser point cloud registration unit, a three-dimensional image registration unit and a three-dimensional image registration unit, wherein the three-dimensional laser point cloud data acquisition unit is used for acquiring three-dimensional laser point cloud data of a shooting object and a panoramic image of the shooting object, the three-dimensional laser point cloud data are subjected to two-dimensional projection to obtain a corresponding two-dimensional gray image, first feature point data in the two-dimensional gray image are extracted, second feature point data in the panoramic image are determined according to the first feature point data, and the registration image of.
Further, the image processing module is specifically configured to perform orthogonal projection on the three-dimensional laser point cloud data to obtain a two-dimensional image corresponding to the three-dimensional laser point cloud data;
and carrying out graying processing on the two-dimensional image to obtain a corresponding two-dimensional gray image.
Further, the registration module is specifically configured to select a control point on the photographic object, and extract first feature point data corresponding to the two-dimensional grayscale image according to the control point;
extracting feature point data corresponding to the control points in the panoramic image;
and matching the feature point data with the first feature point data by using the Euclidean distance to obtain second feature point data.
In addition, the present application also provides a computer-readable storage medium, which includes instructions, when the instructions are executed on a computer, the computer executes the steps of the registration method of the three-dimensional laser point cloud and the panoramic image according to any one of the above technical solutions.
In addition, this application still provides a registration equipment of three-dimensional laser point cloud and panoramic image, includes:
a memory for storing a computer program;
a processor, configured to implement the steps of the registration method of the three-dimensional laser point cloud and the panoramic image according to any one of the above technical solutions when executing the computer program.
While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A registration method of a three-dimensional laser point cloud and a panoramic image is characterized by comprising the following steps:
acquiring three-dimensional laser point cloud data and a panoramic image of a shooting object;
performing two-dimensional projection on the three-dimensional laser point cloud data to obtain a corresponding two-dimensional gray image;
extracting first feature point data in the two-dimensional gray level image, and determining second feature point data in the panoramic image according to the first feature point data;
and obtaining registration images of the three-dimensional laser point cloud data and the panoramic image according to the first characteristic point data, the second characteristic point data, the panoramic image and the three-dimensional laser point cloud data.
2. The method for registering a three-dimensional laser point cloud and a panoramic image according to claim 1, wherein the two-dimensional projection of the three-dimensional laser point cloud data to obtain a corresponding two-dimensional gray image specifically comprises:
performing orthogonal projection on the three-dimensional laser point cloud data to obtain a two-dimensional image corresponding to the three-dimensional laser point cloud data;
and carrying out graying processing on the two-dimensional image to obtain a corresponding two-dimensional gray image.
3. The method for registering a three-dimensional laser point cloud and a panoramic image according to claim 1, wherein the extracting first feature point data in the two-dimensional grayscale image and determining second feature point data in the panoramic image according to the first feature point data specifically comprises:
selecting a control point on the shot object, and extracting corresponding first characteristic point data in the two-dimensional gray image according to the control point;
extracting feature point data corresponding to the control points in the panoramic image;
and matching the feature point data with the first feature point data by using the Euclidean distance to obtain second feature point data.
4. The method for registering a three-dimensional laser point cloud and a panoramic image according to claim 1, wherein obtaining the registered image of the three-dimensional laser point cloud data and the panoramic image according to the first feature point data, the second feature point data, the panoramic image and the three-dimensional laser point cloud data specifically comprises:
calculating a transformation matrix between the first characteristic point and the second characteristic point by using a random sampling consistency algorithm;
obtaining attitude data of the camera according to the transformation matrix;
and matching the space position coordinates in the three-dimensional laser point cloud data with the space position coordinates in the panoramic image according to the attitude data of the camera to obtain a registration image of the three-dimensional laser point cloud data and the panoramic image.
5. The method for registering a three-dimensional laser point cloud and a panoramic image according to claim 1, wherein the acquiring three-dimensional laser point cloud data of a shot object specifically comprises:
and horizontally rotating the shooting object for a circle by using a three-dimensional laser scanner and a camera to obtain the three-dimensional laser point cloud data of the shooting object.
6. A registration device of three-dimensional laser point cloud and panoramic image is characterized by comprising:
the system comprises an acquisition module, a storage module and a display module, wherein the acquisition module is used for acquiring three-dimensional laser point cloud data of a shot object and a panoramic image of the shot object;
the image processing module is used for performing two-dimensional projection on the three-dimensional laser point cloud data to obtain a corresponding two-dimensional gray image;
and the registration module is used for obtaining registration images of the three-dimensional laser point cloud data and the panoramic image according to the first characteristic point data, the second characteristic point data, the panoramic image and the three-dimensional laser point cloud data.
7. The device for registering a three-dimensional laser point cloud and a panoramic image according to claim 6,
the image processing module is specifically used for performing orthogonal projection on the three-dimensional laser point cloud data to obtain a two-dimensional image corresponding to the three-dimensional laser point cloud data;
and carrying out graying processing on the two-dimensional image to obtain a corresponding two-dimensional gray image.
8. The device for registering a three-dimensional laser point cloud and a panoramic image according to claim 6,
the registration module is specifically used for selecting a control point on the shot object and extracting corresponding first feature point data in the two-dimensional gray image according to the control point;
extracting feature point data corresponding to the control points in the panoramic image;
and matching the feature point data with the first feature point data by using the Euclidean distance to obtain second feature point data.
9. A registration apparatus of a three-dimensional laser point cloud and a panoramic image, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the method of registration of a three-dimensional laser point cloud and a panoramic image as claimed in any of claims 1 to 5 when executing the computer program.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, realizes the steps of the method of registration of a three-dimensional laser point cloud and a panoramic image according to any one of claims 1 to 5.
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| CN115375741A (en) * | 2022-07-06 | 2022-11-22 | 浙江大华技术股份有限公司 | Registration method and related device for panoramic image and laser point cloud |
| CN117197012A (en) * | 2023-09-04 | 2023-12-08 | 广东维美家科技有限公司 | A panoramic image and point cloud image matching method, device, equipment and medium |
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