METHOD FOR REDUCING AMBIGUITIES IN THE REPRESENTATION AND REGISTRATION OF POINT CLOUDS USING LASER SCANNERS

摘要

A procedure for reducing ambiguities in the representation and registration of point clouds has been revealed.The point clouds are generated by at least one laser scanner or extracted from a navigation card.A first point cloud and a second point cloud are each received as input sizes.The procedure shall include the steps:(a) determination of surface standards (24, 25, 26, 27) at the points of the first point cloud (7) and at the points of the second point cloud;(b) Determine a representation of the first point cloud, comprising the following sub-steps:(i) subdivisions of the first point cloud (7) in cells (9, 10, 11, 12);;(ii) grouping the points of the respective cell (9, 10, 11, 12) on the basis of surface standards (24, 25, 26, 27) at the points of the first point cloud (7);(iii) determine the normal distribution for the points of the group in each cell; andc) Record the second point cloud to the first point cloud (7) based on the representation.;The core of the process is the introduction of an additional variable in the form of surface norms in the normal distribution transformation approach (NDT),in particular by step (a) and sub-step (ii).It is an extension of the normal NDT procedure, making the representation of a point cloud, especially in a cell, more precise, and the registration of point clouds more physically meaningful.The process is particularly advantageous for laser data-based mapping of an autonomous machine, thus avoiding as far as possible the erroneous detection of internal and external walls as well as corners without renouncing localisation efficiency.