基于点对特征算法和SVD分解的三维激光点云识别

doi:10.13229/j.cnki.jdxbgxb.20240407

Abstract

Abstract:

At the same time， the inconsistency of spatial coordinate systems further exacerbates the complexity of recognition problems， making traditional recognition methods face problems such as inaccurate feature extraction， low matching efficiency， and low recognition rate. Therefore， a 3D laser point cloud recognition method based on point-to-point feature algorithm and SVD decomposition is proposed. Firstly， the ISS key feature points are extracted from the point cloud data， and through the SVD decomposition algorithm， the identified ISS key feature point cloud and database reference point cloud are adjusted to a unified spatial coordinate system. By combining the FPFH descriptor with the SPFH graph， the spatial geometric characteristics of key point cloud feature points are described， and the point cloud data in the reference point cloud that meets the conditions of closest spatial proximity and the most similar FPFH descriptor is divided into a pair of feature point pairs. Introducing spherical harmonic function and calculating the similarity of point to point features to achieve the recognition of three-dimensional point clouds. The experiment shows that the proposed method can simplify complex point cloud data while preserving local ISS key feature points of the point cloud. Through feature point pair similarity analysis， effective recognition of 3D point cloud data can be achieved.

Key words: ISS key feature point extraction, SVD decomposition algorithm, FPFH descriptor, SPFH diagram, spherical harmonic function

CLC Number:

TP391.41

Yun-fei QIU,Hong-miao YU,Xiang WANG. 3D laser point cloud recognition based on point-to-point feature algorithm and SVD decomposition[J].Journal of Jilin University(Engineering and Technology Edition), 2025, 55(5): 1735-1741.

Figures/Tables 4

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3D laser point cloud recognition based on point-to-point feature algorithm and SVD decomposition

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