Line parametric object estimation

摘要

A method may include projecting, onto a first projection plane of a first projection volume, first points from a point cloud of a setting that are within the first projection volume. Further, the method may include matching a plurality of the projected first points with a cross-section template that corresponds to a line parametric object (LPO) of the setting to determine a plurality of first element points of a first primary projected element. Additionally, the method may include projecting, onto a second projection plane of a second projection volume, second points from the point cloud that are within the second projection volume and matching a plurality of the projected second points with the cross-section template to determine a plurality of second element points of a second primary projected element. Moreover, the method may include generating a parameter function based on the first element points and the second element points.

主权项

1. A method comprising:
receiving a point cloud of three-dimensional (3D) data corresponding to a setting, wherein the 3D data includes a plurality of line parametric object (LPO) points that correspond to a line parametric object (LPO) included in the setting; generating a first projection volume that corresponds to a three-dimensional extension of a first projection plane, wherein the first projection plane includes a first position along a dominant axis about which the LPO extends, the first projection plane is perpendicular to a direction axis at the first position, and the direction axis at least roughly corresponds to the dominant axis; projecting, onto the first projection plane, first points from the point cloud that are within the first projection volume; matching a plurality of the projected first points with a cross-section template that corresponds to the LPO to determine a plurality of first element points of a first primary projected element, wherein the first element points include a first plurality of LPO points; generating a second projection volume that includes a second projection plane; placing the second projection volume such that the second projection plane includes a second position along the dominant axis that is different from the first position, wherein placing the second projection volume is based on the direction axis such that the second projection plane is moved along the direction axis with respect to the first projection plane and is perpendicular to the direction axis at the second position; projecting, onto the second projection plane, second points from the point cloud that are within the second projection volume; matching a plurality of the projected second points with the cross-section template to determine a plurality of second element points of a second primary projected element, wherein the second element points include a second plurality of LPO points; and generating a parameter function based on the first element points and the second element points, wherein the parameter function expresses a parameter of the LPO as a function of position along the dominant axis.