公开(公告)号：US11037346B1

公开(公告)日：2021-06-15

申请号：US17026260

申请日：2020-09-20

申请人： NANJING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS

发明人： Jun Wang ,  Yan Wang ,  Yuanpeng Liu ,  Qian Xie

IPC分类号： G06T11/20 ,  G06T7/70

摘要： Disclosed a multi-station scanning global point cloud registration method based on graph optimization, including acquiring multi-station original three-dimensional point cloud data; based on initial registration of targets, completing initial registration of point cloud data at adjacent stations by virtue of the target at each angle of view; calculating a point cloud overlap area at adjacent angles of view, and calculating areas of overlap regions of adjacent point cloud by a gridded sampling method; constructing a fine registration graph structure, and constructing a fine registration graph by taking point cloud data of each station as a node of the graph and taking an overlap area of the point cloud data of adjacent stations as a side of adjacent nodes of the graph structure; and based on loop closure fine registration based on graph optimization, gradually completing point cloud fine registration of the whole aircraft according to a specific closure sequence.