US 7,925,110 B2Granted

System and method for filtering a point cloud

AssigneesHONG FU JIN PRECISION INDUSTRY (ShenZhen) CO., LTD., Hon Hai Precision Industry Co., Ltd.

InventorsChih-Kuang Chang, Shan-Yang Fu

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Abstract

A method for filtering a point cloud is provided. The method includes: (a) acquiring a point cloud of an object from a point cloud obtaining device; (b) establishing a topological structure for the point cloud; (c) selecting a maiden point from the point cloud as a selected point; (d) searching a plurality of points which are near to the selected point from the point cloud according to the topological structure as near points of the selected point; (e) determining whether the selected point is a noise point by comparing coordinate values of the selected point and coordinate values of the near points; (f) deleting or smoothing the noise point from the point cloud; and repeating steps from (c) to (f), until all points in the point cloud have been selected. A related system is also provided.

Claims12

Dependent claims

A system for filtering a point cloud, the system comprising an application server connected to a point cloud obtaining device, the application server comprising:

a point cloud acquiring module configured for acquiring a point cloud of an object from the point cloud obtaining device;
a topological structure establishing module configured for establishing a topological structure for the point cloud to make points of the point cloud confined in a plurality of related cubical grids;
a point selecting module configured for selecting a maiden point from the point cloud as a selected point;
a near points searching module configured for searching a plurality of points which are near to the selected point from the point cloud according to the topological structure as near points of the selected point;
a noise point determining module configured for determining whether the selected point is a noise point by comparing coordinate values of the selected point with coordinate values of the near points;
and
a noise point filtering module configured for deleting or smoothing the noise point from the point cloud.

4 more elements

A computer-enabled method for filtering a point cloud, the method comprising steps of:

(a) acquiring a point cloud of an object from a point cloud obtaining device;
(b) establishing a topological structure for the point cloud;
(c) selecting a maiden point from the point cloud as a selected point;
(d) searching a plurality of points which are near to the selected point from the point cloud according to the topological structure as near points of the selected point;
(e) determining whether the selected point is a noise point by comparing coordinate values of the selected point and coordinate values of the near points;
(f) deleting or smoothing the noise point from the point cloud;
and
repeating steps from (c) to (f), until all points in the point cloud have been selected.

5 more elements

Dependencies are inferred from the claim text.