彩色Range图像的三维模型重建

重建包含模型真实纹理的彩色三维模型是计算机视觉研究领域的一个重要问题,提出了一种基于2.5维深度图像的三维配准算法,同时利用原始数据中的几何以及纹理信息,对多幅深度图像进行两两配准和全局配准。新算法在两两配准阶段将纹理信息用于初选两幅图像的匹配点对,在全局配准阶段将纹理信息用于计算残差,并据此更新对应点对的权重值用于下一次迭代计算。该算法克服了以往算法在纹理、几何信息的参数尺度量化等方面的问题。     

基于三维模型几何信息的纹理图像压缩

为进一步压缩三维模型数据,提高网络传输的速度,同时不降低模型渲染的视觉表现效果.提出了一种基于三维模型几何信息的纹理图像压缩算法.首先对模型三维网格做重网格化,使网格具备半正则的规则拓扑结构;然后利用半正则网格表面的几何信息对模型的三维特征点进行提取,对三维特征点在纹理空间的映射点应用k-means聚类算法获取感兴趣区域;最后结合基于感兴趣区域的嵌入式零树小波压缩算法,实现对模型纹理图像数据的编码和解码操作.实验结果表明,该算法提取的纹理图像感兴趣的细节区域更精确、压缩比高,经过解码和重建后的纹理图像在对三维模型表面贴图映射后具有更好的视觉效果.     

一种快速的三维扫描数据自动配准方法

研究了两幅和多幅深度图像的自动配准问题.在配准两幅深度图像时,结合二维纹理图像配准深度图像,具体过程是:首先,从扫描数据中提取纹理图像,特别地,针对不包含纹理图像的扫描数据提出了一种根据深度图像直接生成纹理图像的方法;然后,基于SIFT(scale-invariant feature transform)特征提取纹理图像中的兴趣像素,并通过预过滤和交叉检验兴趣像素等方法从中找出匹配像素对的候选集;之后,使用RANSAC(random sample consensus)算法,根据三维几何信息的约束找出候选集中正确的匹配像素对和相对应的匹配顶点对,并根据这些匹配顶点对计算出两幅深度图像间的刚体置换矩阵;最后,使用改进的ICP(iterative closest point)算法优化这一结果.在配准多幅深度图像时,提出了一种快速构建模型图的方法,可以避免对任意两幅深度图像作配准,提高了配准速度.该方法已成功应用于多种文物的三维逼真建模.     

基于分层策略的三维非刚性模型配准算法

在三维非刚性模型分析中,通常需要对不同姿态下的模型进行配准。针对传统配准算法存在复杂度高、计算量大、精确度低等问题,提出一种新的基于分层策略的三维非刚性模型配准算法。首先,定义热核签名函数为模型的标量域,使用同源聚类算法提取模型的特征点和特征区域,进而提出三维几何模型的树形表示方法:它的根节点为三维几何模型,内部节点为模型的特征区域,叶节点为包含在相应区域的特征点。然后,根据三维几何模型的树形表示提出模型的分层配准算法。在SHREC 2010模型配准数据集上对比分析了分层配准算法、推广的多维尺度变换算法（GMDS）和博弈论方法在等距变换、孔洞、小孔洞、尺度变换、局部尺度变换、重采样、噪声、散粒噪声以及拓扑变换等情况下的性能。实验结果表明,在以上三维几何模型数据受干扰的情况下,分层配准算法的准确性明显优于GMDS方法和博弈论方法,同时具有较低的计算复杂度。     

基于序列影像的城市三维建模

提出了一种从序列图像建立城市三维模型的算法框架。该方法使用三条序列影像和匹配生成的数字表面模型，结合几何约束的多视特征匹配，从图像获取三维点、线信息。同时讨论了基于感知编组的几何模型生成算法，以及纹理优选与自动映射。实验结果证明该方法是有效的。     

自由多视角恢复表面纹理的三维重建

针对从轮廓恢复形状获得的几何模型,为使其具有真实感,提出了一种基于自由多视角的图像序列为几何模型添加表面纹理的新方法,解决了以往二维图像和三维几何模型配准方法中需人工干预、低精度,速度慢的问题。本文通过设计一个配准模板,实现了全自动、高精度的配准,并利用透视投影变换一次性获得纹理坐标,实现了快速的纹理恢复。实验结果表明,采用这种方法的纹理绘制效果理想,生成的模型真实感强。     

基于三维几何视觉重要性的纹理图像选择压缩算法

不同于传统二维图像,映射到三维模型上的纹理图像隐式包含了三维几何视觉信息. 然而,目前已有的纹理图像压缩方法并未考虑此特性. 本文提出了一种与三维模型几何视觉特性相关的纹理图像选择压缩算法. 首先给出一种结合纹理图像的显著性及其纹理走样的视觉重要性图构建方法, 将纹理图像划分为具有不同优先级别区域.之后,利用提出的选择压缩方法对它们进行不同比例压缩. 实验结果表明当选择本压缩算法时,纹理化三维模型能够获取较好的视觉效果.     

PTZ摄像机视频与三维模型的配准技术研究

针对基于投影纹理映射的虚实融合系统,提出了一种PTZ摄像机视频与三维模型实时配准的技术.选取PTZ摄像机若干特定姿态的子图像组成一张全景图像,进行最优匹配图像的搜索,用SURF图像配准的方法对实时视频图像进行透视变换,利用最优匹配图像的三维投影信息将实时视频图像精确投影到三维模型中.实验结果表明,该算法具有较高的准确性,适用于虚实融合系统中PTZ摄像机视频的三维配准.     

一种融合纹理的三维图像重建快速实现方法

为了得到完整的三维模型,介绍了一种融合纹理的三维图像重建快速实现方法。通过对不同视角的深度图像的手动粗配准、ICP算法精配准以及全局配准得到这些深度图像的旋转平移矩阵。通过vrippack,三维重建出完整的三维图像,用TextureStitcher对得到的三维图像进行纹理映射,从而实现融合纹理的三维图像的快速重建。文中在论述配准算法主要思想和实现步骤的同时,也用实验验证了方法的可行性与通用性。     

基于特征约束点的纹理映射算法

纹理映射技术用于生成物体表面的纹理细节,是真实感图形技术的重要组成部分,也是计算机图形学的一个重要研究方向.针对目前很多纹理映射算法计算量大,方法比较复杂的缺点,应用Candide3作为三维网格模型,提出了一种快速有效的基于特征约束点的纹理映射算法.通过在三维网格模型和纹理图像上选取少量对应的特征约束点,利用三角网格剖分算法在纹理图像上建立选取特征点的三角网格.进而通过求取质心坐标的方法计算出三维网格模型上所有特征点的纹理坐标并完成整个三维网格模型的纹理映射.实验结果表明,提出的算法计算速度较快,能够得到高真实度的纹理映射效果,并且适用于不同纹理图像映射到同一三维网格模型上.     

Relief texture from specularities

In vision and graphics, advanced object models require not only 3D shape, but also surface detail. While several scanning devices exist to capture the global shape of an object, few methods concentrate on capturing the fine-scale detail. Fine-scale surface geometry (relief texture), such as surface markings, roughness, and imprints, is essential in highly realistic rendering and accurate prediction. We present a novel approach for measuring the relief texture of specular or partially specular surfaces using a specialized imaging device with a concave parabolic mirror to view multiple angles in a single image. Laser scanning typically fails for specular surfaces because of light scattering, but our method is explicitly designed for specular surfaces. Also, the spatial resolution of the measured geometry is significantly higher than standard methods, so very small surface details are captured. Furthermore, spatially varying reflectance is measured simultaneously, i.e., both texture color and texture shape are retrieved.     

Interactive modeling of complex geometric details based on empirical mode decomposition for multi-scale 3D shapes

In this paper we develop an interactive modeling system for complex geometric details transformation based on empirical mode decomposition (EMD) on multi-scale 3D shapes. Given two models, we aim to transfer geometric details from one model to another one in an interactive manner. Taking full advantages of the multi-scale representation computed via EMD, different-scale geometric details can be transferred individually or in a concerted way, which makes our algorithm much more flexible than cut-and-paste and cloning based methods in transferring geometry details. In this process, the target surface with new transferred details could be generated by a mesh reconstruction method widely used in Laplacian surface editing. With the original positions of target surface serving as the soft constraints, the overall shape of the target model will be fully preserved. Our method can also support real-time continuous details transfer. Compared with state-of-the-art algorithms, our method provides an easier-to-use modeling tool and produces varied modeling results. We demonstrate the effectiveness of our modeling tool with various applications, such as detail transfer and enrichment, model reuse and recreation, and detail recovery for shape completion.     

基于曲率流的四边形主导网格的光顺方法

网格模型是计算机图形学和数字几何处理中运用最为广泛的三维几何表达方式.四边网格(以四边形为主的网格)由于其符合人们对几何形状变化的自然感知,在表示三维几何上有其独有的优势,并且可以更为直接地应用在几何造型、细分曲面、建筑设计等方面.文中针对四边形主导网格含有噪声的情况,设计了一种基于表面微分属性的光顺方法,该方法具有易实现、计算效率高的特点.基于曲率流的几何扩散可以有效地保持原网格的几何特征,同时还针对四边形主导网格的T-顶点进行了特殊处理.     

建筑物多尺度三维语义建模研究

针对现有的一些三维建模方法强调单一尺度几何模型构建,缺乏多细节层次(LoD)和语义信息表达,互操作性不强等问题,以国际开放标准CityGML为基础,利用矢量拉伸、基于几何特征和规则的语义信息提取、几何映射和语义映射等技术研究了建筑物多尺度几何语义一体化模型构建方法.采用开源Cesium库开发了一套基于WebGL的建筑物...     

Validation of aircraft height extraction from Worldview-1 stereo data

The satellite Worldview-1 was launched in September 2007; the optical sensor is acquiring panchromatic data of 0.5 m geometric resolution at nadir. A stereo data set covering an urban area was provided by DigitalGlobe to evaluate the potential of object height extraction and digital surface model (DSM) generation. Because of a lack of reference elevation data, an accuracy assessment of eight aircraft at Ontario airport was undertaken. The object heights were compared with the known height of every aircraft type. They were well estimated with a mean absolute error (MAE) for all measured positions between 0.59 and 0.62 m. One aircraft was analysed in more detail and its shape evaluated qualitatively. The results are promising and show that the sensor is suitable for DSM generation and object height extraction. It has the potential for improved three-dimensional (3D) information extraction and thus can contribute to more accurate, detailed and realistic 3D models. Future studies will provide more information about the absolute height accuracies to be expected for different surfaces of the Earth.     

单幅植物叶片图像的3维重建

目的 植物叶片形态复杂,在虚拟场景中很难真实表现。为了从信息量有限的单幅图像中恢复植物叶片的3维形状,本文基于从明暗恢复形状（shape from shading,SFS）的方法,利用亮度统计规律和植物形态特征恢复叶片的3维形状。方法 在SFS的基础上,设计基于图像骨架的距离场偏置加强表面细节;针对SFS对恢复宏观几何形状的不足,提出根据图像亮度统计分布选取控制点控制表面宏观形状变化,并利用叶片中轴的距离场约束恢复宏观几何形状,每种方法对于表面宏观几何形状恢复的权重基于恢复的反射图和输入图像间的相似度设定;将表面细节添加到宏观几何形状上得到目标对象的3维形状。结果 选取植物叶片图像进行实验,并与其他方法进行比较,实验结果表明本文方法增强了表面细节显示,并有明显的宏观几何形状变化。同时为了验证本文方法对其他物体表面细节恢复的适用性,分别对硬币和恐龙恢复表面细节,实验结果表明提出的增强表面细节的方法同样适用于其他物体。结论 针对单幅植物叶片图像的3维重建,在SFS的基础上提出了根据骨架特征加强表面细节,根据图像亮度统计分布和叶片中轴距离场约束共同恢复表面宏观几何形状的算法,实验结果验证了本文方法的可行性。     

Object segmentation in cluttered and visually complex environments

Object segmentation is essential for systems that acquire object models online for robotic grasping. However, it remains a major technical challenge in visually complex and uncontrolled environments. Segmentation algorithms that rely on image features alone can perform poorly under certain lighting conditions, or if the object and the background have similar appearance. In parallel, known object segmentation algorithms that rely exclusively on three dimensional (3D) geometric data are derived under strong assumptions about the geometry of the scene. A promising approach to performing object segmentation is to use a combination of appearance and 3D features. In this paper, an object segmentation algorithm is presented that combines multiple appearance and geometric cues. The segmentation is formulated as a binary labeling problem. The Conditional Random Fields (CRF) framework is used to model the conditional probability of the labeling given the appearance and geometric data. The maximum a posteriori estimation of the labeling is obtained by minimizing the energy function corresponding to the CRF using graph cuts. A simple and efficient method for initializing the proposed algorithm is also presented. Experimental results have demonstrated the effectiveness of the proposed algorithm.     

Monge mapping using hierarchical NURBS

Texture mapping is an efficient and effective tool in computer graphics and animation. While computationally very cost-effective, texture mapping may produce non-realistic appearances of shapes in 3D environment, especially when viewing closely. To improve the realism of 3D modeling, bump mapping technique is developed to add details with the 3D models on top of texture mapping. Bump mapping, however, offers only simple and visual enhancement. Displacement mapping technique can further improve the localized detail of geometry. In this paper, Monge mapping technique is developed for detail and local shape modification of NURBS represented geometry in a 3D environment. Based on multiresolution and refinement schemes, Hierarchical NURBS (H-NURBS) is first investigated to design a mechanism for the purpose of carrying localized geometric information. Monge mapping on H-NURBS patch can be easily performed via simple cut-and-paste operation. Parametric control of the local shapes is developed to facilitate easier and better 3D local modeling.     

辣椒植株三维重构与可视化研究

为构建辣椒植株可视化模型,借助三维数字化仪获取了辣椒枝干、叶片和果实的真三维数据,结合球B样条曲线模拟了枝干的三维形态,利用NURBS曲面和T样条拼接方法建立了辣椒果实几何模型,描述节、果实的凹凸、顶端叶序等局部特征,在各器官的自动着生过程中,避免器官间的碰撞.模拟结果表明,该方法得到的模型较真实地反映了辣椒的诸多细节,具有较高的真实感,为辣椒三维形态交互设计和可视化模拟提供了技术支撑.