结构光视觉三维点云逐层三角网格化算法

针对结构光视觉恢复的大规模三维点云的可投影特点,提出一种基于投影网格的底边驱动逐层网格化曲面重建算法。该算法首先将点云投影到一个二维平面上；然后基于点云投影区域建立规则投影网格,并将投影点映射到规则二维投影网格上,建立二维网格点与三维点云间的映射关系；接着对投影网格进行底边驱动的逐层网格化,建立二维三角网格；最后根据二维投影点与三维点的对应关系及二维三角网格拓扑关系获得最终的三维网格曲面。实验结果表明,算法曲面重建速度快,可较好地保持曲面细节特征。

Layer by Layer Triangulation Algorithm for 3D Point Clouds from Structured Light Vision

Aiming at the feature that large scale 3D points cloud recovered from structured light vision can be projected,a bottom edge driven layer by layer mesh surface reconstruction algorithm based on projection grid was presented.Firstly,the point cloud is projected to a 2D plane.Then a regular 2D projection grid based on the point cloud projection area is established,and the projected points are mapped to the 2D projection grid points.So the mapping between the 3D points and the 2D projection grid points is established.Thirdly,bottom edge driven layer by layer triangulates the 2D projection grid points,and a two-dimensional triangular mesh is obtained.Finally,according to the correspondences among 2D projection grid points and the 3D points,and the 2D triangular mesh topology,final 3D mesh surface is built.Experimental results show that the proposed algorithm is fast and can be used to maintain the details of the surface.