| Predicate |
Object |
| assignee |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentassignee/MD5_9083f8824b83211e2a0503686f35ca06 |
| classificationCPCAdditional |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G06T2210-61 |
| classificationCPCInventive |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G06T19-00
http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G06T17-00 |
| classificationIPCInventive |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/G06T17-00
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/G06K9-62
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/G06T19-00
http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/G06V10-75 |
| filingDate |
2022-01-26-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| inventor |
http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_e4daf92cbab33c9173eae3be9a7291e1
http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_03fb894fc0828b313357ad775d94ea77
http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_a81c97f28223a2b986d2aae3ffbd88ba
http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_3354e28a3cb765c420a5502bbbf5cd79
http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_b4aca7033fb93798b9d9f8ce944fed3c
http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_f7cd23b590ebf2a76e7651f0ab7f45e0
http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_bbb0f82dccc155dab0b559ba4cfe8811
http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_3d8858631d78a67e651410676b75d2f9 |
| publicationDate |
2022-05-17-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationNumber |
CN-114511673-A |
| titleOfInvention |
A Preliminary Construction Method of Submarine Local Environment Based on Improved ICP |
| abstract |
The present invention provides a preliminary method for constructing a local seabed environment based on improved ICP, comprising: feature point extraction: improving the ISS algorithm so that the algorithm ignores the influence of scale information, thereby extracting feature points from point cloud data; Feature point description: The FPFH algorithm is improved to reduce the dependence of the algorithm on the normal vector, so as to describe the feature points; Feature point matching: The RANSAC algorithm is used to match the feature points of two frames of point clouds, and two frames are initially estimated. Pose relationship of point cloud data; point cloud data matching and local environment construction: The improved ICP method is used to further optimize the matching effect of the current two frames of point cloud data. The improvements made by the present invention to the ISS algorithm can make the algorithm ignore the influence brought by the scale information of the point cloud data to a certain extent. |
| priorityDate |
2022-01-26-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| type |
http://data.epo.org/linked-data/def/patent/Publication |