METHOD AND DEVICE FOR EXTRACTING SKELETON FROM POINT CLOUD

摘要

A method for extracting a skeleton form a point cloud includes: obtaining inputted point cloud sampling data; contracting the point cloud using an iterative formula and obtaining skeleton branches, the iterative formula is:; $$ \underset{X}{\mathrm{argmin}}\sum _{i\in I}\sum _{j\in J}x_i-q_i\theta \left(x_j-q_j\right)+R\left(X\right),\mathrm{wherein}$$ $$ R\left(X\right)=\sum _{i\in I}{\gamma }_i\sum _{i^{\prime }\in I\left\{i\right\}}\frac{\theta \left(x_i-x_{i^{\prime }}\right)}{{\sigma }_ix_i-x_{i^{\prime }}},\theta \left(r\right)={}^{-\frac{4r^2}{h^2}},$$ ;wherein J represents a point set of the point cloud sampling data, q represents the sampling points in the point set J, I represents a neighborhood point set of the sampling points q, x represents the neighborhood points in the neighborhood point set I, R is a regular term, γ is a weighting coefficient, h is a neighborhood radius of the neighborhood point set I, and σ is a distribution coefficient; and connecting the skeleton branches and obtaining a point cloud skeleton.