基于几何结构特征的点云表面重建方法

doi:10.16182/j.issn1004731x.joss.201711013

系统仿真学报 ›› 2017, Vol. 29 ›› Issue (11): 2684-2692.doi: 10.16182/j.issn1004731x.joss.201711013

基于几何结构特征的点云表面重建方法

杨振发^1,2, 万刚², 曹雪峰², 李锋², 谢理想²

1.66407部队,北京 100086;
2.信息工程大学,河南郑州 450001

收稿日期:2016-05-31 发布日期:2020-06-05
作者简介:杨振发(1990-),男,福建莆田,硕士生,研究方向为虚拟现实。
基金资助:
国家自然科学基金(41401465,41371384),国防科技项目基金(3601015),地理信息工程国家重点实验室开放基金（2016-M-3-4）

Surface Reconstruction of Point Cloud Based on Geometric Structure

Yang Zhenfa^1,2, Wan Gang², Cao Xuefeng², Li feng², Xie Lixiang²

Information Engineering University, Zhengzhou 450001, China

Received:2016-05-31 Published:2020-06-05

摘要/Abstract

摘要： 针对稠密点云存在噪声、城市场景具备规则几何结构等情况,提出了基于几何结构特征的点云表面重建方法。该方法利用RANSAC算法提取平面结构,将原始点云结构化为平面点、两个面相交的折点、三个以上平面相交的角点和散乱点;再对结构化后的点云进行三维Delaunay四面体剖分,使用四种点构成的三角面片改进最小割能量函数的惩罚项,实现了点云的表面重建。与几种点云表面重建经典算法和商业软件的比较实验结果表明,该方法可以很好地恢复场景中的平面等几何结构。

关键词: 序列图像, 稠密点云, 表面重建, 三维Delaunay剖分, 最小割

Abstract: To solve the problems that the existing noise in dense point cloud generated from sequential images dense matching affects the accuracy, and geometric structure such as flat exists in urban scenes, a surface reconstruction method of dense point cloud based on geometric structure is proposed in this paper. RANSAC algorithm is applied to extract planar structure. The original points were structured into planar points, crease points of two planes intersecting, corner points of three or more planes intersecting and clutter points. Then the structured point cloud is divided into tetrahedron by 3D Delaunay, improving the penalty term of min-cut energy function by the triangular patches consisted by the four structured points to extract surface of the 3D Delaunay tetrahedron. The experiment results show that, compared with several classical methods and business software, the proposed method can reconstruct a real 3D scene and can recovery the scene geometry structure of plane.

Key words: sequential images, dense point cloud, surface reconstruction, 3D Delaunay partition, min-cut

中图分类号:

TP274

杨振发, 万刚, 曹雪峰, 李锋, 谢理想. 基于几何结构特征的点云表面重建方法[J]. 系统仿真学报, 2017, 29(11): 2684-2692.

Yang Zhenfa, Wan Gang, Cao Xuefeng, Li feng, Xie Lixiang. Surface Reconstruction of Point Cloud Based on Geometric Structure[J]. Journal of System Simulation, 2017, 29(11): 2684-2692.

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基于几何结构特征的点云表面重建方法

Surface Reconstruction of Point Cloud Based on Geometric Structure

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