文物点云模型的优化配准算法*

目的 针对带有噪声的文物点云模型,采用一种由粗到细的方法来实现其断裂面的精确配准。方法 首先采用一种变尺度点云配准算法实现粗配准,即配准测度函数的尺度参数由大到小逐渐变化,可避免算法陷入局部极值,并获得较高精度的初始配准结果。然后采用基于高斯概率模型的改进迭代最近点(iterative closest point, ICP)算法进行细配准,可以有效地抑制噪声对配准结果的影响,实现断裂面的快速精确匹配。结果 采用兵马俑文物碎块的配准结果表明,该优化配准算法能够实现文物断裂面的精确配准,而且在细配准阶段取得了较高的配准精度和收敛速度。结论 因此说,该优化配准算法是一种快速、精确、抗噪性强的文物点云配准方法。     

A marker-less assembly stage recognition method based on corner feature

Fast and robust product assembly stage recognition is a key step in human–machine cooperative assembly. To solve the recognition problem of similar adjacent assembly stages, a marker-less assembly stage recognition method is proposed based on corner feature between an assembling product and a digital model. Considering the geometric features of mechanical products, a corner identification method is proposed based on the circumferential angle difference (CADF). Then a corner matching method based on distance constraint is studied for ICP registration to realize the point cloud registration between the product and digital model. Based on the registration relationship, a similarity algorithm based on proximity point proportion is used to calculate the similarity between models and the input assembling product. The model with the greatest similarity is taken as the stage recognition result. In experiments on four group assembling products, the average stage recognition accuracy is 96.15%, which indicates that the proposed method can solve the stage recognition problem. The corner identification method based on the CADF outperforms the Harris-3D corner detection method in the efficiency of assembly stage recognition.     

基于ICP算法的医学图像几何配准技术

几何配准是医学图像领域研究的重要内容，医学图像几何配准的目标就是建立术前和术中两组点的变换关系。该文利用股骨为模型，讨论了基于轮廓特征的ICP医学图像几何配准算法，从技术上实现了术前建模和术中取点，并编制相应的ICP算法程序。     

基于特征点和改进ICP的三维点云数据配准算法

在光学非接触三维测量中,复杂对象的重构需要多组测量数据的配准。最近点迭代(ICP)算法是三维激光扫描数据处理中点云数据配准的一种经典的数学方法,为了获得更好的配准结果,在ICP算法的基础之上,提出了结合基于特征点的等曲率预配准方法和邻近搜索ICP改进算法的精细配准,自动进行点云数据配准的算法,经对牙齿点云模型实验发现,点云数据量越大,算法的配准速度优势越明显,采用ICP算法的运行时间(194.58 s)远大于本算法的运行时间(89.13 s)。应用实例表明:该算法具有速度快、精度高的特点,算法效果良好。     

逆向工程中基于小波的数据配准

利用小波分析的多分辨率特性与迭代最近点算法(ICP)相结合,提出了多分辨率数据配准算法,实现不同视角测量数据的快速配准。首先对数据点进行三角网格划分,并进行多层小波分解。对最低层网格计算离散曲率,在不同网格数据中搜索曲率最接近的点进行迭代配准,在所得变换的基础上,进行小波重构并在较小的范围内重新搜索最接近点并进行迭代配准,重复这一过程直到实现原始数据配准。通过实例证明,该算法具有迭代速度快,抗噪声干扰等特点。     

增量式网格的快速对齐

给出了一种基于增量式网格的快速对齐算法,在迭代最近点(ICP)算法的基础上,利用增量式网格多分辨率的特点,通过在不同粒度下的对齐来提高效率．还给出了一种在对齐前计算初始变化矩阵的方法,根据该方法计算出来的初始变化矩阵用于ICP算法中,可以保证网格对齐收敛于全局最佳。     

Medical image segmentation, volume representation and registration using spheres in the geometric algebra framework

This paper presents an algorithm to model volumetric data and other one for non-rigid registration of such models using spheres formulated in the geometric algebra framework. The proposed algorithm for modeling, as opposite to the Union of Spheres method, reduces the number of entities (spheres) used to model 3D data. Our proposal is based in marching cubes idea using, however, spheres, while the Union of Spheres uses Delaunay tetrahedrization. The non-rigid registration is accomplished in a deterministic annealing scheme. At the preprocessing stage we segment the objects of interest by a segmentation method based on texture information. This method is embedded in a region growing scheme. As our final application, we present a scheme for surgical object tracking using again geometric algebra techniques.     

CAD mesh model simplification with assembly features preservation

This paper aims to investigate a CAD mesh model simplification method with assembly features preservation, in order to satisfy the requirement of assembly field for the information of 3D model. The proposed method simplifies a CAD mesh model as follows. Firstly, the notion of ＂conjugation＂ is incorporated into the definition of assembly features, with the purpose of benefitting the downstream applications such as assembly features recognition and preservation. Subsequently, the attributed adjacency graphs （AAGs） of the region- level-represented parts are established. The assembly features are automatically recognized by searching for conjugated subgraphs of every two AAGs based on subgraph isomorphism algorithm. In order to improve the efficiency of assembly features recognition, the characteristics of conjugated subgraphs are adopted to initialize the mapping matrix, and the ＂verifying while matching strategy＂ is used to verify the validity of every two newly founded vertices which are correspondingly matched. Then, simplified CAD mesh model with assembly features preserved is constructed after suppressing the common form features. The method is applied successfully to simplify the CAD mesh model with assembly features well preserved. Moreover, the tradeoff between the cost of time for conjugated subgraphs matching and the complexity of the to-be-matched parts is proven to be almost linear.     

同态滤波下RGB-D点云配准方法

目的 为了提高彩色物体配准的精度,针对3维点云颜色信息易受光照条件影响的问题,提出一种基于光照补偿的RGB-D（RGB Depth）点云配准方法。方法 引入同态滤波算法,并将模型对象的3维点云转化成线性点序列,从而对颜色信息进行光照补偿,以提高颜色信息的一致性;获取模型的颜色和几何特征并加权组合成混合特征,以此定义源点云的特征点,并运用K近邻算法搜索其对应点;用奇异值分解（SVD）得到配准的刚性变换矩阵。结果 进行传统的迭代最近点法（ICP）算法、深度信息与色调相结合的算法以及本文算法在不同的光照强度组合的模型配准对比实验,结果显示,在网面凹凸均匀的大卫模型上,配准时间及特征点匹配平均误差方面均约减少到对比方法的1/2;在网面光滑的barrel模型和网面凹凸不一致的阿基米德模型上,特征点匹配平均误差约分别减少到对比方法的1/6和1/8。此外,与Super 4-Points Congruent Set（Super 4PCS）、彩色点云配准算法在不同组合光照强度下进行对比实验,针对4种不同的网面结构模型,本文算法的SIFT特征点距离平均误差全距约减少到对比方法的1/5。结论 利用同态滤波算法抑制光照影响,提高了颜色信息的一致性,在一定效果上消除了光照强度不均匀对3维点云配准精度的干扰。     

Robust Non-rigid Registration Based on Affine ICP Algorithm and Part-Based Method

The classical affine iterative closest point (ICP) algorithm is fast and accurate for affine registration between two point sets, but it is easy to fall into a local minimum. As an extension of the classical affine registration algorithm, this paper first proposes an affine ICP algorithm based on control point guided, and then applies this new method to establish a robust non-rigid registration algorithm based on local affine registration. The algorithm uses a hierarchical iterative method to complete the point set non-rigid registration from coarse to fine. In each iteration, the sub data point sets and sub model point sets are divided, meanwhile, the shape control points of each sub point set are updated. Then we use the control point guided affine ICP algorithm to solve the local affine transformation between the corresponding sub point sets. Next, the local affine transformation obtained by the previous step is used to update the sub data point sets and their shape control point sets. Experimental results demonstrate that the accuracy and convergence of our algorithm are greatly improved compared with the traditional point set non-rigid registration algorithms.     

基于局部空间数据的功能磁共振图像运动校正

在脑功能磁共振实验中,运动校正是数据预处理的关键环节。运动校正的结果对后续的脑区定位、功能连接等分析有着重要的影响。但因数据量较大,常规分析软件对实验数据进行运动校正时做了一些简化处理,校正误差较大。为减少这种误差,提出了一种基于局部空间数据的运动校正方法,首先从数据获取的角度构造功能像各切片的局部空间数据,然后利用修正的Gauss-Newton最优化方法估计各切片相对于参考图像做刚体变换后的空间位置,最后利用Delaunay三角剖分方法重构功能像以实现精确校正。仿真实验及实际的视觉实验数据分析结果表明,该方法具有较高的校正精度,是一种有效的功能磁共振数据运动校正方法。     

网格修补的特征配准方法

目的 网格重建和编辑会产生几何特征缺失的模型,填补这些空洞具有重要的意义。为了克服复杂曲面修补中网格融合难以配准的问题,提出了环驱动球坐标结合基于曲率及法向ICP(iterative closest point)迭代配准的网格修补方法。方法 首先用户查找合适的源网格面片放入空洞处周围;然后对目标网格空洞环建立B样条曲线,将带修补网格包边界置于B样条曲线上,构架环驱动球坐标,将源网格变形初步配准目标网格空洞周围领域;最后使用Laplacian光顺并基于网格曲率及法向进行ICP迭代配准,使源网格与目标网格光滑拼接融合。结果 该方法能够有效修补网格空洞缺失的细节特征,并且拼接处光滑连续。 结论 环驱动球坐标配准避免了网格变形的包围网格笼子构造,再通过ICP迭代精确配准网格,和以往的网格修补方法相比,该方法能够很好地修补网格空洞处细节特征。     

A fast registration algorithm of rock point cloud based on spherical projection and feature extraction

Point cloud registration is an essential step in the process of 3D reconstruction. In this paper, a fast registration algorithm of rock mass point cloud is proposed based on the improved iterative closest point (ICP) algorithm. In our proposed algorithm, the point cloud data of single station scanner is transformed into digital images by spherical polar coordinates, then image features are extracted and edge points are removed, the features used in this algorithm is scale-invariant feature transform (SIFT). By analyzing the corresponding relationship between digital images and 3D points, the 3D feature points are extracted, from which we can search for the two-way correspondence as candidates. After the false matches are eliminated by the exhaustive search method based on random sampling, the transformation is computed via the Levenberg-Marquardt-Iterative Closest Point (LM-ICP) algorithm. Experiments on real data of rock mass show that the proposed algorithm has the similar accuracy and better registration efficiency compared with the ICP algorithm and other algorithms.     

面向遥感图像BNs分类的预处理技术及算法实现

遥感图像BNs分类分为预处理、BNs模型构建和分类3个前后联系的过程。其中对预处理技术是后面两个步骤的基础，其算法实现过程对分类结果的影响很大，预处理的目标是高效、准确地提取图像分类所需要的重要特征，剔除干扰因素。该文介绍了一种简单数据预处理技术和其算法实现过程。针对遥感数据的特点和BNs方法的需要，将该预处理过程分成波谱空间分割和关系信息计算两个部分，分别介绍了两部分的原理并给出了实现的算法。对于遥感数据分类预处理技术的研究和实现具有很强的借鉴作用。     

基于二次误差的点云配准算法

提出了一种基于二次误差的特征描述子,该特征描述子具有旋转不变性。通过提取点的二次误差和邻域点二次误差得到两种特征描述子。基于高斯混合模型的点云配准算法层出不穷,主要原因是概率模型在噪声和离群值方面具有更好的鲁棒性,然而该类方法对于尺度较大的旋转表现并不好,为此将二次误差特征描述子作为高斯混合模型的局部特征优化了高斯混合模型较大旋转中的配准效果,并提出基于双特征的配准策略优化了单一特征的缺陷。通过实验与鲁棒的ICP(iterative closest point)以及流行的基于特征的配准算法在配准效率和配准精度方面进行对比,效率是鲁棒性ICP的3～4倍。在大尺度的旋转中提出的算法具有良好的鲁棒性并且优于大多数流行的算法。     

Non-rigid isometric ICP: A practical registration method for the analysis and compensation of form errors in production engineering

The unprecedented success of the iterative closest point (ICP) method for registration in geometry processing and related fields can be attributed to its efficiency, robustness, and wide spectrum of applications. Its use is however quite limited as soon as the objects to be registered arise from each other by a transformation significantly different from a Euclidean motion. We present a novel variant of ICP, tailored for the specific needs of production engineering, which registers a triangle mesh with a second surface model of arbitrary digital representation. Our method inherits most of ICP’s practical advantages but is capable of detecting medium-strength bendings i.e. isometric deformations. Initially, the algorithm assigns to all vertices in the source their closest point on the target mesh and then iteratively establishes isometry, a process which, very similar to ICP, requires intermediate re-projections. A NURBS-based technique for applying the resulting deformation to arbitrary instances of the source geometry, other than the very mesh used for correspondence estimation, is described before we present numerical results on synthetic and real data to underline the viability of our approach in comparison with others.     

Segmentation of multi-material CT data of mechanical parts for extracting boundary surfaces

We introduce a method for segmentation of materials segmented in volumetric models of mechanical parts created by X-ray CT scanning for the purpose of generating their boundary surfaces. When the volumetric model is composed of two materials, one for the object and the other for the background (Air), these boundary surfaces can be extracted as isosurfaces using a surface contouring method. For a volumetric model composed of more than two materials, we need to classify the voxel types into segments by material and then use a surface contouring method that can deal with both CT values and material types. Here we propose a method for precisely classifying the volumetric model into its component materials using a modified and combined method of two well-known algorithms in image segmentation, region growing and Graph-cut. We then apply our non-manifold iso-contouring method to generate triangulated mesh surfaces. In addition, we demonstrate the effectiveness of our method by constructing high-quality triangular mesh models of the segmented parts.     

二维点轮廓与矢量轮廓配准研究

在平面类零件的光学测量中,二维点轮廓与矢量轮廓的配准是关键算法,配准精度 直接影响测量精度。针对平面类零件的配准问题,提出了基于形状特征函数的粗配准算法和二维 矢量最近点迭代(ICP)精配准算法。利用角度距离图法将矢量图形的几何信息转化为独立于坐标系 的连续函数,进而实现粗配准算法。基于平面上点与曲线的最近距离算法计算配准目标函数,给 出了不同于传统的ICP 算法的直接求解目标函数的解析方法,有效提高了算法效率。利用实例验 证分析了该算法的高效性和可靠性。     

单Kinect+回转台的全视角三维重建

为了解决当前全视角三维扫描系统价格昂贵操作复杂的问题,提出利用1台Kinect和1个回转台来构建全视角三维模型的方法。研究涉及点云预处理、点云配准、全局误差修正以及色差修正等技术。首先使用Kinect采集数据并预处理,结合转台约束利用图像几何特征进行粗配准,随后使用迭代最近点（Iterative closest point,ICP）算法实现点云的精确配准。对于累积误差导致的闭环问题以及不同角度拍摄引起的色差问题,通过全局误差修正与色差修正算法处理,提升重建结果的精度。实验结果表明：该方法可以实现三维物体的全视角重建,并在精度上优于微软的KinectFusion方法。     

3维模型局部高度研究

提出一种新的3维模型的特征点检测算法。该算法可以作为其他许多3维模型处理技术的预处理操作(如模型简化、模型匹配、视点选择等)。与其他3维模型特征点检测算法相比,该算法具有两个特点： 1)引入一种新的显著性度量方法——“局部高度”,而不是传统的曲率。认为3维模型表面某点的视觉重要性(即显著性)是由它所在位置的凸起程度来刻画,而不是该点所在位置的弯曲程度所决定,因此,提出局部高度这种新的显著性度量方式。 2)基于局部高度,引入Mean Shift算法这种非参数化的概率密度估计方法来对3维模型表面的局部高度分布进行聚类分析,然后计算出3维模型的特征点。实验结果表明,该算法能够很好地捕捉视觉上显著的3维模型特征点,且在不同分辨率下均有稳定的表现。