Three-dimensional point cloud motion compensation method

• Main Authors: WANG LI, LIU DA, LIU ZHONGHAN, GU YINGYING, ZHU FEIHU, WU YUN, ZHANG CHUNMING, LI TAO
• Format: Patent
• Language: Chinese; English
• Published: 18.12.2018
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING

The invention relates to a three-dimensional point cloud motion compensation method, comprising the following steps: respectively connecting central points, scanned twice, of a point cloud with central points, scanned twice, of a target shape; respectively selecting one point from two connections, and traversing until two points with the nearest distance are gotten; calculating a mean value of thetwo nearest points, and taking the mean value point as a suspected target rotation center coordinate; taking the suspected target rotation center coordinate as an original point, traversing positionsin a plurality of ranges, and performing motion compensation by taking the traversed positions as a point cloud rotation center respectively; calculating a rotation center, movement speed of a targetcentral position and target rotational angular velocity, taking the numerical values as a basis, calculating a relative position error of each point, compensating each point in the point cloud, and then calculating a matching