Alpha-Shapes分段改进算法在三维模拟树枝体积扫描测量中的应用

针对树木与树枝分叉部分体积计算困难,三维扫描建模易产生黏连现象等问题,提出一种Alpha-Shapes分段改进算法。通过三维激光扫描技术获取三维模拟树枝的点云数据,利用Alpha-Shapes算法计算出三维模拟树枝的点云边缘轮廓并进行三维重建,利用分段算法对三维重建数据进行体积分割计算,通过点云最高层补偿以此保证分段算法的准确度。最后用Alpha-Shapes算法计算各个分段体积并进行累加。实验使用标准塑料直管段、三通管段和四通管段对树干以及树枝的分叉情况进行模拟并通过扫描真实树枝进行验证,通过三维激光扫描技术获取点云数据,实验充分考虑树枝分叉情况、检测精度、黏连问题,结合不同模拟树枝分叉特点,对比选择最合适的半径α值与分段高度β值。实验表明该改进算法的体积计算误差值在4%-5%之间,较改进前降低5%。     

基于线激光的鱿鱼扫描系统与分割算法研究

目的:为实现低成本、等重量、自动化分割鱿鱼。方法:基于线激光扫描获取的点云,提出了一种结合线激光点云数据分析、表面重建及鱿鱼体积估测等方法的鱿鱼体积分割算法,使用三维激光扫描仪结合LabView获取鱿鱼表面的三维点云数据,为了还原鱿鱼表面形貌,使用阈值分割法去除点云数据里的噪点,根据分割算法确定分割点位置,对鱿鱼产品进行等侧边对角线等重量分割。结果:对角线长度最大误差为0.86%,重量最大误差为0.94%。结论:基于线激光的鱿鱼扫描系统实现了鱿鱼精确分割,符合企业的生产需求,为鱿鱼生产自动化提供了技术支持。     

基于MATLAB对三维激光扫描数据的精度评定

针对三维激光扫描存在对扫描精度难以评定的问题,该文提出了1种基于(结合)MATLAB的三维激光扫描数据的精度评定方法。首先,对三维激光扫描测量的数据进行预处理,获得被扫描体表面的点云数据;其次,切割被扫描体的点云曲面,获得点云剖线;再次,通过MATLAB拟合点云曲线,将其转成离散点位;最后,依托TS30高精度的特点,对三维激光扫描数据进行精度评定。     

三维激光扫描技术在道路测绘中的应用

三维激光扫描技术作为一种快速实景复制技术,是测绘领域的一次技术革新,它通过全景化的快速测量方法获取高分辨率、精细的地理空间对象表面的三维点云数据,为建立精细的三维实体模型提供了必备的数据基础。该文以三维激光扫描技术在昌平区路侧停车项目中景文屯路的施测过程为例,详细地介绍了三维激光扫描作业的全过程,并对数据据进行对比分析,从而确定三维激光扫描技术的应用场景。     

点云数据获取及预处理的研究

该研究以较为完整地点云数据获取及预处理的相关流程为基线,首先论述了点云数据的特点和当前利用三维激光扫描技术获取的点云数据领域的发展现状,其在变形监测、文物保护、工民建等各类工程与领域都有较为广泛的应用。然后对点云数据的采集、数据预处理中的技术要点与难点进行了阐述,重点对点云数据的获取和预处理方面所涉及的先进方法进行了归纳总结,最后也提出了点云数据预处理领域待解决的一些突出问题。     

基于多Kinect的旋转人体扫描系统研究

为解决目前人体扫描系统价格昂贵、操作复杂、占用面积大等问题,基于微软推出的Kinect相机具有快速、安全、经济的特点,提出利用3个Kinect相机和一个旋转台来构建三维人体扫描系统,研究该系统涉及的深度相机成像原理、多相机标定以及点云配准等技术。首先利用KinectFusion技术重建出单个传感器的三维点云,然后采用多相机标定技术,计算各传感器之间的相对位置关系,实现点云的初始拼接,并使用ICP算法实现点云的精确配准,从而重建出完整的三维人体点云模型。实验结果表明,该方法能够重建出高精度点云,并且该人体扫描设备成本低,占地面积小,可行性与实时性强。     

三维激光扫描技术研究综述

三维激光扫描技术是一种新兴的测量技术,在逆向工程等领域有着广泛的应用。但在其应用的过程中有着很多的技术难点,本文综述了三维激光扫描的技术基础、点云处理流程、点云去噪、靶标的靶心定位、点云数据配准和逆向工程的应用等问题。     

立式罐容量计量中三维激光扫描法研究

研究基于三维激光扫描技术的立式罐容量计量方法,利用三维激光扫描仪获取立式罐表面点云数据,采用小圆柱体积叠加的容量计算模型计算容积并获得容积表,基于点云分析计算底部排量和罐体倾斜度进行容积修正。在测试试验中,以一个5 000 m3的立式罐为测试对象,对比三维激光扫描法与全站仪法测得的半径值和容积表数据后,发现内测法半径最大偏差为1.6 mm,外测法半径最大偏差为8.2 mm,容积偏差均在1‰以内,从而验证三维激光扫描法的可行性和准确性。测试试验还显示这种方法可大幅度提高立式罐容量计量的工作效率。     

基于三维激光扫描技术的爆破对象数字化研究

爆破对象的数字化,是整个爆破过程数字化的基础。三维激光扫描技术首先快速、准确获取物体表面点的三维坐标数据,然后由点云构建出物体的立体模型。介绍了采用三维激光扫描技术实现爆破对象数字化的过程,包括:爆破对象数字化模型建立、爆破设计数字化、爆破效果数字化和爆破质量控制数字化。     

基于三维激光扫描原理的球形罐容量计量方法研究

采用三维点云数据采集和建模技术对球形储罐容量计量进行了研究,主要包括球形储罐罐壁坐标采集原理、数据噪声滤波、粗差剔除、半径拟合和容量计算方法研究,并进行了试验数据分析。1000m³球形罐试验数据表明:在赤道内半径测量方面,全站仪方法和三维激光扫描方法的测量的差值小于1mm;在竖向内半径测量方面,用全站仪测量方法和三维激光扫描方法的测量值之间的差值为16.1mm。三维激光扫描方法用于试验中球形罐容量测量的相对扩展不确定度为0.4% (k=2)。     

融合配准的多站室外大场景激光点云分割

针对室外场景范围广、分割难度大、识别效果不显著等问题,提出了一种融合多站点云配准的室外大场景分割方法.首先,根据室外场景视野大、点云数据量庞大特点,选取多个视角下重叠区域较多的建筑场景点集,结合SAC-IA和ICP方法进行点云自动配准,从而构建出点云密度相对均匀的室外大场景完整结构;然后,选用公共数据集Semantic...     

基于稀疏激光点云数据和单帧图像融合的三维重构算法

由于激光雷达获取的深度数据非常稀疏,为了能够将深度数据与图像数据重构出稠密三维深度图,本文提出了基于稀疏激光点云数据和单帧图像融合的三维重构算法。该方法首先使用点直方图特征有效地选择对应于目标的点数据并消除体素中的非相似点;然后,使用高斯过程回归对局部深度数据建模,并通过插值获得三维深度数据,本文算法获得的三维深度点更接近基准值,并保持了目标的局部形状特征;最后,利用马尔科夫随机场对图像灰度数据和三维插值点进行融合来构建三维深度图。仿真实验结果表明:相比现有基于激光雷达数据和单目图像数据的三维重建算法,本文提出的算法将大大提升算法的鲁棒性与重构的准确度,可辅助用于复杂的城市场景中车辆的无人驾驶。     

广式古家具的逆向点云数据采集研究

目的研究广式古家具,对典型古家具样品进行三维扫描,掌握处理原始点云数据的技术要领和现场扫描古家具三维模型的实际操作方法,为广式古家具的Alias参数化模型建构与虚拟现实应用研究奠定原始数据基础。方法对广式古家具选择研究样品后进行设计调查,携带仪器设备对广式古家具进行现场扫描,获得其表面的点云数据,掌握点云数据处理与现场扫描的方法。结论广式古家具的逆向点云数据采集研究以未来信息化建设为视角,侧重于技术过程实践和参数化模型建构方法研究,为广式古家具的数字化传承技术作出了有益示范。     

Multimodal region-consistent saliency based on foreground and background priors for indoor scene

Visual saliency is a very important feature for object detection in a complex scene. However, image-based saliency is influenced by clutter background and similar objects in indoor scenes, and pixel-based saliency cannot provide consistent saliency to a whole object. Therefore, in this paper, we propose a novel method that computes visual saliency maps from multimodal data obtained from indoor scenes, whilst keeping region consistency. Multimodal data from a scene are first obtained by an RGB+D camera. This scene is then segmented into over-segments by a self-adapting approach to combine its colour image and depth map. Based on these over-segments, we develop two cues as domain knowledge to improve the final saliency map, including focus regions obtained from colour images, and planar background structures obtained from point cloud data. Thus, our saliency map is generated by compounding the information of the colour data, the depth data and the point cloud data in a scene. In the experiments, we extensively compare the proposed method with state-of-the-art methods, and we also apply the proposed method to a real robot system to detect objects of interest. The experimental results show that the proposed method outperforms other methods in terms of precisions and recall rates.     

逆向工程中三维离散点云的平滑整定新算法

 目前逆向工程中关于三维数据的平滑整定一般都是建立在三维数据之间的拓扑关系上的.提出一种平滑整定新算法,该算法是针对散乱、无序的,没有任何拓扑关系的三维离散点云数据.根据概率统计学中的频数法从大量的离散三维数据点云中找到噪声点,然后基于三维数据点云所建立的K-D树空间数据结构,找到噪声点周围的k个最近点,根据噪声点周边k个最近点的信息对噪声点处的真实信息进行恢复.基于激光三维平面扫描机器人系统证明该算法对离散三维数据点云的平滑整定的效果是令人满意的,在逆向工程中对数据预处理是切实可行的.     

Linear terrestrial laser scanning using array avalanche photodiodes as detectors for rapid three-dimensional imaging

As an active remote sensor technology, the terrestrial laser scanner is widely used for direct generation of a three-dimensional (3D) image of an object in the fields of geodesy, surveying, and photogrammetry. In this article, a new laser scanner using array avalanche photodiodes, as designed by the Shanghai Institute of Technical Physics of the Chinese Academy of Sciences, is introduced for rapid collection of 3D data. The system structure of the new laser scanner is first presented, and a mathematical model is further derived to transform the original data to the 3D coordinates of the object in a user-defined coordinate system. The performance of the new laser scanner is tested through a comprehensive experiment. The result shows that the new laser scanner can scan a scene with a field view of 30° × 30° in 0.2 s and that, with respect to the point clouds obtained on the wall and ground floor surfaces, the root mean square errors for fitting the two planes are 0.21 and 0.01 cm, respectively. The primary advantages of the developed laser scanner include: (i) with a line scanning mode, the new scanner achieves simultaneously the 3D coordinates of 24 points per single laser pulse, which enables it to scan faster than traditional scanners with a point scanning mode and (ii) the new scanner makes use of two galvanometric mirrors to deflect the laser beam in both the horizontal and the vertical directions. This capability makes the instrument smaller and lighter, which is more acceptable for users.     

Remote sensing of three-dimensional cirrus clouds from satellites: application to continuous-wave laser atmospheric transmission and backscattering

A satellite remote sensing methodology has been developed to retrieve 3D ice water content (IWC) and mean effective ice crystal size of cirrus clouds from satellite data on the basis of a combination of the conventional retrieval of cloud optical depth and particle size in a horizontal plane and a parameterization of the vertical cloud profile involving temperature from sounding and/or analysis. The inferred 3D cloud fields of IWC and mean effective ice crystal size associated with two impressive cirrus clouds that occurred in the vicinity of northern Oklahoma on 18 April 1997 and 9 March 2000, obtained from the Department of Energy's Atmospheric Radiation Measurement Program, have been validated against the ice crystal size distributions that were collected independently from collocated and coincident aircraft optical probe measurements. The 3D cloud results determined from satellite data have been applied to the simulation of cw laser energy propagation, and we show the significance of 3D cloud geometry and inhomogeneity and spherical atmosphere on the transmitted and backscattered laser powers. Finally, we demonstrate that the 3D cloud fields derived from satellite remote sensing can be used for the 3D laser transmission and backscattering model for tactical application.     

Contemporary technologies for 3D digitization of Maori and Pacific Island artifacts

Three‐dimensional (3D) digitization is a key aspect in the preservation and exhibition of museum artifacts. The objective of this article is to investigate contemporary technologies for creating accurate 3D digital models of artifacts from the Maori and Pacific heritage and to establish a generic digitization methodology so that the 3D models can be archived and exhibited both over the internet and within museum displays. This process involves procedures for selecting artifacts that are suitable for laser scanning and then setting up the artifact for scanning. This is followed by the actual scanning and postprocessing stages. To achieve this, the Polhemus FastSCAN laser scanner has been used to collect raw point cloud surface data from artifacts of various sizes, shapes, textures, colors, and materials. The article explains the generic steps developed for postprocessing of raw scan data in the form of a cloud of geometric data points to a completely rendered 3D model with colors mapped on to the model. These generic steps involve removal of background noise, enhancement of texture, filling of holes, merging of separate scans, and color mapping. The results from the scanning and postprocessing of a wahaika, (a Maori club‐like weapon) and a Polynesian stone pounder reveal that it is important to use a scanner that is flexible enough to capture all the surface information irrespective of the artifact's geometry, and one with the capability of capturing color information with high accuracy. © 2009 Wiley Periodicals, Inc. Int J Imaging Syst Technol, 19, 244–259, 2009