Data processing method, apparatus, system and storage media

An apparatus comprising:

• one or more processors;
• memory;
• a feature acquisition module stored in the memory and executable by the one or more processors to determine feature points in first point cloud data and feature points in second point cloud data, the first point cloud data and the second point cloud data being used for representing different parts of a same object;
• a feature matching module stored in the memory and executable by the one or more processors to perform feature matching between the first point cloud data and the second point cloud data to determine feature points that satisfy a feature matching condition between the first point cloud data and the second point cloud data, and form a plurality of feature point pairs;
• a feature point pair selection module stored in the memory and executable by the one or more processors to determine a transformation matrix in which spatial distances between feature points in one or more feature point pairs of the plurality of feature point pairs conform to a proximity condition for the feature point pairs;
• a data registration module stored in the memory and executable by the one or more processors to perform coordinate transformation on the one or more feature point pairs of the plurality of feature point pairs using the transformation matrix to register the first point cloud data with the second point cloud data to obtain registered first point cloud data and registered second point cloud data;
• and
• an iterative registration module configured to use the registered first point cloud data and the registered second point cloud data as the first point cloud data to re-determine the feature points in the first point cloud data until a three-dimensional point cloud data model of the object is obtained.

One or more computer readable media storing executable instructions that, when executed by one or more processors, cause the one or more processors to perform acts comprising:

• determining feature points in first point cloud data and feature points in second point cloud data, the first point cloud data and the second point cloud data being used for representing different parts of a same object;
• performing feature matching between the first point cloud data and the second point cloud data to determine feature points that satisfy a feature matching condition between the first point cloud data and the second point cloud data, and form a plurality of feature point pairs;
• for one or more feature point pairs of the plurality of feature point pairs, determining a transformation matrix in which a spatial distance between feature points in the feature point pairs conform to a proximity condition;
• performing coordinate transformation on the one or more feature point pairs of the plurality of feature point pairs using the transformation matrix to register the first point cloud data with the second point cloud data to obtain registered first point cloud data and registered second point cloud data;
• and
• using the registered first point cloud data and the registered second point cloud data as the first point cloud data to re-determine the feature points in the first point cloud data until a three-dimensional point cloud data model of the object is obtained.