基于三角剖分和纹理映射的物体表面重建算法

提出一种简便的物体表面重建算法,该算法用立体匹配获得的物体表面三维特征点和原匹配图像来重建物体的真实表面,主要步骤是:将物体表面三维特征点集映射到某个平面上,在此平面上完成三角剖分,将剖分的结果映射回物体表面,用空间三角片来表示物体的几何模型,最后在OpenGL环境下将物体原匹配图像贴到几何模型上,这样就真实地重建了物体表面.最后给出了重建物体真实表面的所需条件.     

基于水平集的3D动画

将水平集方法引入3D动画中，提出了一种新的动画方法，用一形变模型表示物体的表面，由模型的变形来实现动画，为了使模型能自适应改变其拓扑结构，将模型的进化问题转化为函数的水平集进化问题，同时采用了一种新颖的速度延伸方法来实现水平集进行化提高建模精度，为了加快建模的速度，结合狭窄区域技术和多分辨率方法，提出了基于水平集方法的3D动画快速算法，实验结果表明该方法能用于复杂拓扑结构的物体动画。     

一种基于多面体模型的从明暗恢复物体形状方法

针对目前“从明暗恢复物体形状方法”存在的问题,提出了以多面体模型为基础的快速算法,根据向量场的分布建立关于物体表面深度信息的超定线性方程组,在最小二乘意义下求得物体表面的深度值。该算法能从已知光照条件下的单幅或多幅图像中恢复物体表面的三维结构,形成以像素为精度的物体表面多面体模型。实际计算表明该算法计算速度快,能适应单一反射系数的任意物体表面的形状恢复。     

基于形变模型的3D表面自适应重建

结合形变模型和ＡＣＤ方法提出了基于变形模型的３Ｄ表面自适应重建方法。同时引入了与图象统计特性有关的外力,使得表面重建结果与模型的初始位置无关,利用ＡＣＤ方法使模型自适应地改变其拓扑结构;为了提高表面重建的程度和鲁棒性,提出了多尺度重建算法,该方法适用于形状、结构复杂的物体重建,实验结果证明了该方法的有效性。     

基于形变模型由立体序列图象恢复物体的3D形状

结合立体视觉和形变模型提出了一种新的物体3D形状的恢复方法。采用立体视觉方法导出物体表面的3D坐标;利用光流模型估计物体的3D运动,根据此运动移动形变模型,使其对准物体的表面块;由形变模型将由各幅图象得到的离散的3D点融为一起,得到物体的表面形状。实验结果表明该方法能用于形状复杂的物体恢复。     

稠密采样点模型的快速隐式曲面重建

算法以稠密采样点模型表面局部区域内的双边滤波函数值为依据,模型表面附近任意一点的函数值通过与该点最近的模型表面的K个采样点数据直接计算得到。与已有的隐式曲面重建方法相比,该方法既不用曲面内部或外部的支撑点,也不用求解线性和非线性方程,其重建速度快。此外,由于采用双边滤波函数作为其重建的隐式曲面的函数值,因此还能对带有噪声的采样点模型进行特征保持的表面重建。实验结果表明,对于稠密采样点模型,该方法可以快速重建出逼近程度高,效果好的曲面。     

改进的C-V水平集模型图像分割算法

复杂的计算限制了基于Chan-Vese（C-V）水平集模型的图像分割方法的应用。为提高图像分割的速度,提出一种基于C-V水平集模型的改进水平集方法。在一般情况下,只需要几次简单迭代就能分割出物体的轮廓。实验表明,该方法简单高效,能够快速有效地实现图像轮廓分割。     

基于侧影轮廓的三维模型快速重建

提出一种基于侧影轮廓进行三维模型重建的新方法,将传统的三维锥形交叉问题转换成二维轮廓交叉问题。首先,将不同视角下的二维侧影轮廓反投影到若干个平行的三维平面上,然后在三维平面上计算所有反投影轮廓的交叉轮廓,最后对相邻三维平面上的交叉轮廓进行匹配并重建物体的表面。理论分析和实验结果表明该算法的时间复杂度和视角数目呈线性关系。由于该方法主要以增加视角数目来提高模型的精确度,所以比三维锥形交叉的方法能更快速地重建物体精确的三维模型。     

基于PTM模型文物纹理映射算法

针对三维重建物体纹理不真实与不精确问题，提出了基于PTM（Polynomial Texture Maps）模型的文物纹理映射算法，该算法利用了多项式颜色依赖性的特质，采取表征颜色与亮度依赖关系的双二次多项式系数进行存储纹素数据，从而实现在变化的光照条件下重建物体的表面纹理。此外针对原PTM模型中存在的原始采集图像漫反射异常、亮度信息分布不均匀、重建拟合系数不精确，导致的重建图像纹理模糊、存在重影、物体细节纹理缺失等问题，提出了改进多项式的基函数和优化拟合系数的PTM算法以及PTM图像采集设备的优化方法，最后经实验验证，提出的算法使得重建物体纹理的真实性与精确度均得到了有效提高。     

基于微观图像的加工表面3维形貌重建算法研究

切削加工表面由于微观不平度及镜面效应的存在,使得照射其上的光线具有多次散射及后向散射的特性,从而影响了以工件表面图像3维重建形貌的精度。提出了一种基于二向反射分布函数的表面重建算法,构造了以Hapke模型表达的金属切削表面重建方程。该算法以重建方程离散化为手段,计算出光源和物体的倾角和偏角,得到光源和物体的梯度值,最后采用全微分方程对物体表面高度进行恢复。通过对实际切削加工表面图像3维形貌重建结果与触针式测量结果的对比表明,重建形貌粗糙度轮廓贴近实测粗糙度轮廓,证明了本文算法的准确、有效性,为加工表面3维形貌的重建提供了新的思路和方法。     

A level-set approach for the metamorphosis of solid models

We present a new approach to 3D shape metamorphosis. We express the interpolation of two shapes as a process where one shape deforms to maximize its similarity with another shape. The process incrementally optimizes an objective function while deforming an implicit surface model. We represent the deformable surface as a level set (iso-surface) of a densely sampled scalar function of three dimensions. Such level-set models have been shown to mimic conventional parametric deformable surface models by encoding surface movements as changes in the grayscale values of a volume data set. Thus, a well-founded mathematical structure leads to a set of procedures that describes how voxel values can be manipulated to create deformations that are represented as a sequence of volumes. The result is a 3D morphing method that offers several advantages over previous methods, including minimal need for user input, no model parameterization, flexible topology, and subvoxel accuracy     

Integration of fuzzy spatial relations in deformable models—Application to brain MRI segmentation

This paper presents a general framework to integrate a new type of constraints, based on spatial relations, in deformable models. In the proposed approach, spatial relations are represented as fuzzy subsets of the image space and incorporated in the deformable model as a new external force. Three methods to construct an external force from a fuzzy set representing a spatial relation are introduced and discussed. This framework is then used to segment brain subcortical structures in magnetic resonance images (MRI). A training step is proposed to estimate the main parameters defining the relations. The results demonstrate that the introduction of spatial relations in a deformable model can substantially improve the segmentation of structures with low contrast and ill-defined boundaries.     

A hierarchical dense deformable model for 3D face reconstruction from skull

3D face reconstruction from skull has been investigated deeply by computer scientists in the past two decades because it is important for identification. The dominant methods construct 3D face from the soft tissue thickness measured at a set of landmarks on skull. The quantity and position of the landmarks are very vital for 3D face reconstruction, but there is no uniform standard for the selection of the landmarks. Additionally, the acquirement of the landmarks on skull is difficult without manual assistance. In this paper, an automatic 3D face reconstruction method based on a hierarchical dense deformable model is proposed. To construct the model, the skull and face samples are acquired by CT scanner and represented as dense triangle mesh. Then a non-rigid dense mesh registration algorithm is presented to align all the samples in point-to-point correspondence. Based on the aligned samples, a global deformable model is constructed, and three local models are constructed from the segmented patches of the eye, nose and mouth. For a given skull, the globe and local deformable models are iteratively matched with it, and the reconstructed facial surface is obtained by fusing the globe and local reconstruction results. To validate the presented method, a measurement in the coefficient domain of a face deformable model is defined. The experimental results indicate that the proposed method has good performance for 3D face reconstruction from skull.     

Modeling deformable surfaces with level sets

This article describes how to use level sets to represent and compute deformable surfaces. A deformable surface is a sequence of surface models obtained by taking an initial model and incrementally modifying its shape. Typically, we can parameterize the deformation over time, and thus we can imagine that a surface moves or flows under the influence of a vector field. The surface flow, v, can be determined as a function of spatial position (and time), or it can depend on the shape of the surface itself. The latter is called a geometric flow. Deformable surfaces have been used to solve a variety of problems in image processing, computer vision, visualization, and graphics. In graphics, for instance, deformable surface models have been used to form sequences of shapes that animate the morphing of one object into another. They have also been used to denoise or smooth surface models derived from a set of noisy 3D measurements.     

3D anatomical shape atlas construction using mesh quality preserved deformable models

3D anatomical shape atlas construction has been extensively studied in medical image analysis research, owing to its importance in model-based image segmentation, longitudinal studies and populational statistical analysis, etc. Among multiple steps of 3D shape atlas construction, establishing anatomical correspondences across subjects, i.e., surface registration, is probably the most critical but challenging one. Adaptive focus deformable model (AFDM) [1] was proposed to tackle this problem by exploiting cross-scale geometry characteristics of 3D anatomy surfaces. Although the effectiveness of AFDM has been proved in various studies, its performance is highly dependent on the quality of 3D surface meshes, which often degrades along with the iterations of deformable surface registration (the process of correspondence matching). In this paper, we propose a new framework for 3D anatomical shape atlas construction. Our method aims to robustly establish correspondences across different subjects and simultaneously generate high-quality surface meshes without removing shape details. Mathematically, a new energy term is embedded into the original energy function of AFDM to preserve surface mesh qualities during deformable surface matching. More specifically, we employ the Laplacian representation to encode shape details and smoothness constraints. An expectation–maximization style algorithm is designed to optimize multiple energy terms alternatively until convergence. We demonstrate the performance of our method via a set of diverse applications, including a population of sparse cardiac MRI slices with 2D labels, 3D high resolution CT cardiac images and rodent brain MRIs with multiple structures. The constructed shape atlases exhibit good mesh qualities and preserve fine shape details. The constructed shape atlases can further benefit other research topics such as segmentation and statistical analysis.     

基于水平集的3D左心室表面重建

提出了基于分层2D MRI图像重建3D左心室表面的算法．分层2D MRI图像能够跟踪左心室边界在成像平面内的变形,但由于缺少层问数据,层间边界形变的信息难以获取．为了重建左心室的形状,使用基于形变模型的方法：首先建立变形曲面的动力学方程;再将成像坐标系中的图像平面映射到重建坐标系,根据图像数据构造外力,使用平均曲率构造变形曲面的弹性力,然后用水平集数值解法求解动力学方程以重建左心室的表面．实验结果证明了算法的有效性．     

Intelligent compliant force/motion control of nonholonomic mobile manipulator working on the nonrigid surface

The task under consideration is to control a mobile manipulator for the class of nonrigid constrained motion. The working surface is deformable. The geometric and physical model of the surface is unknown and all contact force is nonlinear and difficult to model. To accomplish a task of this kind, we propose a force/motion fuzzy controller based on the philosophy of the parallel approach in two decoupled subspaces. In one subspace, we control the constant contact force normal to the surface and estimate the end-effector tool’s deformable depth of the surface; in the other, we keep the end-effector’s constant velocity parallel to the tangential plane of the surface and suppress the tangential force of the surface deformation. The nonholonomic mobile base is utilized to avoid the singularity. Stability is established and conditions for the control parameters are derived. Performance of the proposed controller is verified through computer simulations compared with the model-based control.