顾及地形特征的等高线拓扑空间关系表达

在分析以往等高线树在表达地形图等高线拓扑空间关系时既没有考虑局部地形特征(鞍部、山头、洼地等)又不能很好表达等高线与所围区域之间的关系等缺陷的基础上,提出了增加地形特征等高线构建增量等高线树,以同时表达等高线之间、等高线与所围区域之间两种拓扑空间关系.通过建立等高线约束Delaunay三角网,给出了增量等高线树的动态提取算法.研究表明,增量等高线树在地形识别、基于等高线建立数字高程模型、等高线高程自动赋值、等值线充填等方面的表现都优于以往等高线树,具有较大的应用潜力.     

一种基于四叉树结构的动态多分辨率地形模型

结合油田可视化项目,文章根据三维地形可视化中利用四叉树存储DEM数据的方法,提出了一种与视点相关的动态多分辨率地理模型的构造算法,主要讨论了该模型的多分辨率地形表示机制以及动态地形简化方法和评价函数等问题,试验结果表明,文中的算法达到了预期目的,能应用于地形场景的三维可视化和漫游。     

具有真实感的虚拟人脸合成

建立了一个可变形的三维人脸网格模型，通过两种变形方法使网格模型与特定人脸照片相匹配；利用所提供的特定人脸的照片，合成人脸的无缝拼接纹理图，同时对变形后的特定人脸网格模型进行了Bezier磨光；将人脸无缝拼接纹理图映射到Bezier磨光后的特定人脸网格模型上，从而生成具有真实感的三维人脸．     

地形三维可视化的实现与应用

文中讨论了地形三维可视化的原理，详细介绍了高级编程语言与OpenGL结合开发环境下的地形三维可视化的计算机实现过程。在此基础之上，讨论了基于GRID DEM的应用分析功能的实现,包括等高线、坡度图、通视分析以及淹没分析。为三维地形可视化的实施提出了有效的方案。     

Deformable M-Reps for 3D Medical Image Segmentation

M-reps (formerly called DSLs) are a multiscale medial means for modeling and rendering 3D solid geometry. They are particularly well suited to model anatomic objects and in particular to capture prior geometric information effectively in deformable models segmentation approaches. The representation is based on figural models, which define objects at coarse scale by a hierarchy of figures—each figure generally a slab representing a solid region and its boundary simultaneously. This paper focuses on the use of single figure models to segment objects of relatively simple structure.A single figure is a sheet of medial atoms, which is interpolated from the model formed by a net, i.e., a mesh or chain, of medial atoms (hence the name m-reps), each atom modeling a solid region via not only a position and a width but also a local figural frame giving figural directions and an object angle between opposing, corresponding positions on the boundary implied by the m-rep. The special capability of an m-rep is to provide spatial and orientational correspondence between an object in two different states of deformation. This ability is central to effective measurement of both geometric typicality and geometry to image match, the two terms of the objective function optimized in segmentation by deformable models. The other ability of m-reps central to effective segmentation is their ability to support segmentation at multiple levels of scale, with successively finer precision. Objects modeled by single figures are segmented first by a similarity transform augmented by object elongation, then by adjustment of each medial atom, and finally by displacing a dense sampling of the m-rep implied boundary. While these models and approaches also exist in 2D, we focus on 3D objects.The segmentation of the kidney from CT and the hippocampus from MRI serve as the major examples in this paper. The accuracy of segmentation as compared to manual, slice-by-slice segmentation is reported.     

Velocity-Guided Tracking of Deformable Contours in Three Dimensional Space

This paper presents a 3D active contour model for boundary detection and tracking of non-rigid objects, which applies stereo vision and motion analysis to the class of energy-minimizing deformable contour models, known as snakes. The proposed contour evolves in three-dimensional space in reaction to a 3D potential function, which is derived by projecting the contour onto the 2D stereo images. The potential function is augmented by a kinetic term, which is related to the velocity field along the contour. This term is used to guide the inter-image contour displacement. The incorporation of inter-frame velocity estimates in the tracking algorithm is especially important for contours which evolve in 3D space, where the added freedom of motion can easily result in loss of tracking. The proposed scheme incorporates local velocity information seamlessly in the snake model, with little computational overhead, and does not require exogenous computation of the optical flow or related quantities in each image. The resulting algorithm is shown to provide good tracking performance with only one iteration per frame, which provides a considerable advantage for real time operation.     

小波分析在三维地形数据简化中的应用研究

研究了小波分析在三维地形数据简化中的应用。在分析了小波多分辨率分析理论的基础上,重点探讨了小波多分辨率分析理论在三维地形简化中的应用,提出了实现三维地形数据简化的一种新的方法。     

Rough Terrain Autonomous Mobility—Part 1: A Theoretical Analysis of Requirements

A basic requirement of autonomous vehicles is that of guaranteeing the safety of the vehicle by avoiding hazardous situations. This paper analyses this requirement in general terms of real-time response, throughput, and the resolution and accuracy of sensors and computations. Several nondimensional expressions emerge which characterize requirements in canonical form.The automatic generation of dense geometric models for autonomously navigating vehicles is a computationally expensive process. Using first principles, it is possible to quantify the relationship between the raw throughput required of the perception system and the maximum safely achievable speed of the vehicle. We derive several useful expressions for the complexity of terrain mapping perception under various assumptions. All of them can be reduced to polynomials in the response distance.The significant time consumed by geometric perception degrades real-time response characteristics. Using our results, several strategies of active geometric perception arise which are practical for autonomous vehicles and increasingly important at higher speeds.     

基于复杂地形上三角网数字地面模型的建立

本文提出了一种生成三角网数字地面模型的新方法，它首先利用凸多边形的性质与凸锥的特性来将离散点连成一三角网，计算工作特别快速有效；其次在三角网形成过程中，能将特征信息线作为三角形的边参加构网并采用了优化手段来优化三角网的现状。该方法能有效地限制狭长三角形的出现，并使生成的三角网能密贴地面，真实反映出地表形状。与其它算法相比，该方法具有思路简单明了、成网速度快、编程容易及成网质量高的特点。实际应用表明     

Distributed Cooperative Outdoor Multirobot Localization and Mapping

The subject of this article is a scheme for distributed outdoor localization of a team of robots and the use of the robot team for outdoor terrain mapping. Localization is accomplished via Extended Kalman Filtering (EKF). In the distributed EKF-based scheme for localization, heterogeneity of the available sensors is exploited in the absence or degradation of absolute sensors aboard the team members. The terrain mapping technique then utilizes localization information to facilitate the fusion of vision-based range information of environmental features with changes in elevation profile across the terrain. The result is a terrain matrix from which a metric map is then generated. The proposed algorithms are implemented using field data obtained from a team of robots traversing an uneven outdoor terrain.