Full-Text Search:
Home|Journal Papers|About CNKI|User Service|FAQ|Contact Us|中文
《Acta Geodaetica et Cartographica Sinica》 2018-06
Add to Favorite Get Latest Update

Hash Map Method of 3D Point Cloud Data for Real-time Organizing

ZHENG Shunyi;HE Yuan;XU Gang;WANG Chen;ZHU Fengbo;School of Remote Sensing and Information Engineering,Wuhan University;Department of Computer Science & Media Technology,Ritsumeikan University;  
In this paper,one of the key elements of intelligent data processing in digital photogrammetry is discussed based on machine vision:efficient management technology of massive point cloud,an improved algorithm for hash mapping 3 D data on GPU is proposed.The algorithm can efficiently perform dynamic insertion,update and indexing of data without the limitation of data scale.We applied the algorithm to TSDF(truncated signed distance field)algorithm for point cloud fusion,which can reduce the noise of single frame and the data registration error between different frames in a very efficient way.Currently,most of the data structures of point cloud fusion algorithms are regular or hierarchical grid data structures,so the object bounding boxes should be specified in advance.Moreover,the hierarchical data structure is complex and hard to parallelization.Therefore,the requirements of dynamic scalability,updating and indexing data of real-time 3 Dreconstruction cannot be satisfied.This paper exploited hash map to manage 3 Ddata.At the same time,the current active region could be estimated with sensor motion to exchange data between host and GPU,keeping low memory utilization ofGPU.Intheexperiments on different levels of graphics cards(GTX960,GTX1050,GTX1060),the algorithm can satisfy the real-time frame rate requirements(60 fps,2.11×105 points per frame),so it meets the requirement of efficient management of 3 Dpoint cloud data in three-dimensional imaging.
【Fund】: 国家自然科学基金(41671452;41701532);; 中央高校基本科研业务费专项资金(2042016kf0012);; 中国博士后科学基金(2017M612510)~~
【CateGory Index】: TP391.41
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
©2006 Tsinghua Tongfang Knowledge Network Technology Co., Ltd.(Beijing)(TTKN) All rights reserved