Indoor 3D modeling method and system based on point cloud data and related device

Abstract

The present application discloses an indoor 3D modeling method based on the point cloud data. The method comprises the steps of obtaining the normal vector and curvature of point cloud data by local surface feature analysis, and performing integrated segmentation operation on the point cloud data according to the normal vector and the curvature value to obtain each initial plane; obtaining the initial3D model after carrying out the room construction reconstruction, and finally reconstructing the concrete shape of the wall according to the returned laser pulse and the distance between the wallobject and the wall surface, so as to realize the high-precision 3D modeling of the complex indoor scene, especially the high-precision 3D modeling of the special structure of the wall surface. This method does not need to provide any prior information, and enhances the recognition and reconstruction of the specific shape of the wall, and especially is suitable for high-precision 3D modeling of indoor scenes with high complexity. The invention also discloses an indoor 3D modeling system, a device and a computer-readable storage medium based on the point cloud data, which have the above beneficial effects. 本申请公开了一种基于点云数据的室内3D建模方法，通过局部表面特征分析得到点云数据的法向量和曲率值，并根据该法向量和曲率值对点云数据执行集成分割操作得到各初始平面，在执行过房间构造重建后得到初始3D模型，最后再结合是否存在返回的激光脉冲和墙面物体与墙面的距离来重建墙面的具体形态，以实现对复杂室内场景的高精度3D建模，尤其是对涉及墙面特殊构造的高精度3D建模。该方法无需提供任何先验信息，并加强了对墙面具体形态的识别和重建，尤其适合对复杂度较高的室内场景进行高精度3D建模。本申请还同时公开了一种基于点云数据的室内3D建模系统、装置及计算机可读存储介质，具有上述有益效果。