点云加权迭代线拟合室内平面图自动生成方法

Indoor Layout Automatic Generation Method Based on Weighted Iterative Line Fitting with Point Cloud

提出了一种基于三维激光点云加权迭代线拟合的室内平面图自动生成方法,根据线特征对三维点云沿高程方向的投影点云进行分割,采用加权迭代直线拟合方法进行分段直线拟合,并进一步对拟合直线进行融合和轮廓补全,实现室内平面图的自动生成。基于手持SLAM系统获取的典型室内场景激光点云自动生成室内平面图,结果表明,该方法能有效抑制室内点云噪声,结构提取完整性可达94.4%,制图精度优于3 cm,可快速生成室内平面结构图。

In this paper,we proposed an automatic generation method of indoor layout based on weighted iterative line fitting from 3D laser point cloud.We segmented the projection point cloud along the elevation direction according to the line features,and used the weighted iterative line fitting method to proceed segmented line fitting.Then,we further fused and completed the segmented fitting lines,realizing the automatic generation of indoor layout.The experimental results show that the proposed method can effectively suppress the indoor point cloud noise,the structural extraction integrity can reach 94.4%and the mapping accuracy is better than 3 cm,which can rapid generate indoor layout structure map.