Panorama and laser point cloud registration method and related device

The invention discloses a panorama and laser point cloud registration method and a related device, and the method comprises the steps: selecting at least three point cloud feature points and panoramic feature points corresponding to the same position from the laser point cloud data and panoramic dat...

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Bibliographic Details
Main Authors ZHANG KAI, HE ZENGFAN, LI QIANKUN
Format Patent
LanguageChinese
English
Published 22.11.2022
Subjects
CALCULATING
COMPUTING
COUNTING
IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
PHYSICS
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Summary:The invention discloses a panorama and laser point cloud registration method and a related device, and the method comprises the steps: selecting at least three point cloud feature points and panoramic feature points corresponding to the same position from the laser point cloud data and panoramic data of the same scene; projecting the point cloud feature points and the panoramic feature points to spherical surfaces with the same center of sphere and the same radius, and obtaining position information of the point cloud feature points and the panoramic feature points corresponding to the spherical surfaces; calculating to obtain a rotation matrix corresponding to the laser point cloud data and the panoramic data based on the point cloud feature points and the position information of the panoramic feature points to the spherical surface; and aligning the laser point cloud data and the panoramic data by using the rotation matrix. Through the method, the panorama and the laser point cloud can be quickly registered
Bibliography:Application Number: CN202210799018