计算机技术与发展2017，Vol.27Issue(7)：83-86,4.DOI:10.3969/j.issn.1673-629X.2017.07.020
散乱点云的边界提取
Boundary Extraction of Scattered Point Cloud
摘要
Abstract
The data of the surrounding environment point cloud obtained by Kinect somatosensory technology is large,and the boundary of the point cloud is an important feature and parameter for robot navigation.A method of an object segmentation and edge contour extraction based on Point Cloud Library (PCL) has been proposed to obtain the boundary feature of complex scattered cloud.By establishing the kd-tree space topology structure of scattered points cloud,the point cloud data have been denoised and filled with holes by pass-through filtering and surface smoothing.The real environment contains a large number of planes,thus the random sampling algorithm (RANSAC) has been employed to find the seed point for determination of the plane used to find the region of interest on the plane.Whether the point is the boundary point is judged by the maximum value of angle difference which has been calculated by the normal direction with the k-nearest points.The experiment of object segmentation and edge contour extraction with the PCL in the ROS (Robot Operating System) environment have been performed rapidly and precisely.The experimental results show that this proposed method has quickly,accurately and effectively obtained the boundary of scattered point cloud.关键词
散乱点云/kd-tree/边界特征提取/分割Key words
scattered point cloud/kd-tree/boundary characteristic extraction/segmentation分类
信息技术与安全科学引用本文复制引用
丁承君,孙刚,尹李亮,齐春辉..散乱点云的边界提取[J].计算机技术与发展,2017,27(7):83-86,4.基金项目
天津市科技支撑计划项目(13ZCZDGX01200) （13ZCZDGX01200）
天津市产学研合作项目(14ZCZDSF00025) （14ZCZDSF00025）
天津市863成果转化项目(13RCHZGX01116,14RCHZGX00862) （13RCHZGX01116,14RCHZGX00862）
