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Corner Point Recognition and Point Cloud Correction Based on Graham-Scan Algorithm

2021; Springer Science+Business Media; Linguagem: Inglês

10.1007/978-981-16-6554-7_33

1876-1119

Bo Zhang, Yuan Xu, Lei Wang, Shuhui Bi,

Remote Sensing and LiDAR Applications

For the problem of finding the corner points and point cloud distortion in the point cloud map, this paper proposes a method of corner point recognition and point cloud correction based on the Graham-scan algorithm. The minimum convex hull polygon of the point cloud map is obtained through the Graham-scan algorithm. Then the corner points of the point cloud map are filtered out by setting the threshold, and the two-dimensional point cloud map is corrected based on the found corner points and the information collected by the IMU. Experiments show that this method has achieved good results, and can effectively identify the inflection point of the point cloud map and correct the point cloud map.