Method of separating object in three dimension point cloud

摘要

A method of separating an object in a three dimension point cloud including acquiring a three dimension point cloud image on an object using an image acquirer, eliminating an outlier from the three dimension point cloud image using a controller, eliminating a plane surface area from the three dimension point cloud image, of which the outlier has been eliminated using the controller, and clustering points of an individual object from the three dimension point cloud image, of which the plane surface area has been eliminated using the controller.

主权项

1. A method of separating an object in a three dimension point cloud, the method comprising:
acquiring, using an image acquirer, a three dimension point cloud image on an object; eliminating, using a controller, an outlier from the three dimension point cloud image; eliminating, using the controller, a plane surface area from the three dimension point cloud image, of which the outlier has been eliminated; and clustering, using the controller, points of an individual object from the three dimension point cloud image, of which the plane surface area has been eliminated, wherein the clustering of points includes assigning a label to each point on the three dimension point cloud image by,
extracting adjacent points that are within a desired distance with respect to each point on the three dimension point cloud image,assigning a same label to the each point and to the adjacent points if the number of the adjacent points is equal to or grater than a threshold value, the label being associated with the object, andmatching each point cloud segment assigned with the same label, thereby calibrating to a point cloud of the individual object.