Title:
LASER LINE SCANNING-BASED POINT CLOUD PROCESSING METHOD AND APPARATUS
Document Type and Number:
WIPO Patent Application WO/2023/019833
Kind Code:
A1
Abstract:
A laser line scanning-based point cloud processing method and apparatus. The method comprises: using a laser to emit laser lines to a scene to be measured, and each time a laser line is emitted, triggering a first camera and a second camera to collect image information of the scene so as to obtain a first image and second image corresponding to said laser line (S101); for each laser line, extracting a first center line and second center line of the laser line respectively from the first image and second image corresponding to the laser line (S102); performing binocular correction on the first center line and the second center line, and calculating parallax according to the corrected first center line and second center line to obtain a 3D point cloud corresponding to each laser line (S103); and splicing the 3D point clouds corresponding to all the laser lines to obtain a 3D point cloud of the scene (S104). According to the described method, the accuracy of a 3D point cloud is effectively improved by means of extracting and processing center lines respectively from a first image and second image corresponding to each laser line.
Inventors:
HUANG JIAN (CN)
YANG JUN (CN)
SHAO TIANLAN (CN)
DING YOUSHAUNG (CN)
YANG JUN (CN)
SHAO TIANLAN (CN)
DING YOUSHAUNG (CN)
Application Number:
PCT/CN2021/138575
Publication Date:
February 23, 2023
Filing Date:
December 15, 2021
Export Citation:
Assignee:
MECH MIND ROBOTICS TECH LTD (CN)
International Classes:
G06T5/50
Domestic Patent References:
| WO2018103152A1 | 2018-06-14 |
Foreign References:
| CN113610741A | 2021-11-05 | |||
| CN111640148A | 2020-09-08 | |||
| CN109186491A | 2019-01-11 | |||
| CN106041937A | 2016-10-26 | |||
| CN108288292A | 2018-07-17 |
Attorney, Agent or Firm:
BEIJING XIANYANG LAW FIRM (CN)
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