基于等级划分的复杂点云骨架提取算法

Multilevel divided skeleton extraction algorithm of complex point cloud

对于复杂点云的骨架提取,由于原始点云的遮挡、缺失、分布不均、分支复杂等原因,所提取骨架会产生断裂、拓扑结构错误等问题。针对复杂结构点云的骨架提取,提出了一种基于等级划分的复杂点云骨架提取算法(multilevel divided skeleton extraction,MDSE)。使用L 1-medial提取初始骨架点,将初始骨架点连接成单分支骨架线,通过对单分支结构的初始骨架线进行等级划分,利用连通分支的平均分叉角确定骨架线断裂位置,由底至顶修补断裂骨架线;最后采用Cardinal样条曲线改善骨架形态,形成完整且符合原始点云拓扑结构的骨架线。实验结果表明,该算法能够从复杂点云中提取出较为完整、拓扑结构正确的骨架线。

For the skeleton extraction of complex point clouds,due to the occlusion,deficiency of original point cloud,uneven distribution,complex branching and other reasons,the extracted skeleton would have problems such as fracture and topology error.Aimed at the skeleton extraction of complex structure point clouds,this paper proposed a complex point cloud skeleton extraction algorithm MDSE based on level division.The algorithm used L 1-medial to extract the initial skeleton points and connected the initial skeleton points into a single branch,divided the set of single branches into different levels and used average bifurcation angle of the connected branches to repair the broken skeleton from the bottom level to top level.Finally,it adopted the Cardinal spline to improve the skeleton shape,forming a complete skeleton that conformed to the original point cloud’s topology.Experimental results show that the algorithm can extract a relatively complete skeleton line with correct topological structure from a complex point cloud.