Gobi spans a large area of China,surpassing the combined expanse of mobile dunes and semi-fixed dunes.Its presence significantly influences the movement of sand and dust.However,the complex origins and diverse materia...Gobi spans a large area of China,surpassing the combined expanse of mobile dunes and semi-fixed dunes.Its presence significantly influences the movement of sand and dust.However,the complex origins and diverse materials constituting the Gobi result in notable differences in saltation processes across various Gobi surfaces.It is challenging to describe these processes according to a uniform morphology.Therefore,it becomes imperative to articulate surface characteristics through parameters such as the three-dimensional(3D)size and shape of gravel.Collecting morphology information for Gobi gravels is essential for studying its genesis and sand saltation.To enhance the efficiency and information yield of gravel parameter measurements,this study conducted field experiments in the Gobi region across Dunhuang City,Guazhou County,and Yumen City(administrated by Jiuquan City),Gansu Province,China in March 2023.A research framework and methodology for measuring 3D parameters of gravel using point cloud were developed,alongside improved calculation formulas for 3D parameters including gravel grain size,volume,flatness,roundness,sphericity,and equivalent grain size.Leveraging multi-view geometry technology for 3D reconstruction allowed for establishing an optimal data acquisition scheme characterized by high point cloud reconstruction efficiency and clear quality.Additionally,the proposed methodology incorporated point cloud clustering,segmentation,and filtering techniques to isolate individual gravel point clouds.Advanced point cloud algorithms,including the Oriented Bounding Box(OBB),point cloud slicing method,and point cloud triangulation,were then deployed to calculate the 3D parameters of individual gravels.These systematic processes allow precise and detailed characterization of individual gravels.For gravel grain size and volume,the correlation coefficients between point cloud and manual measurements all exceeded 0.9000,confirming the feasibility of the proposed methodology for measuring 3D parameters of individual gravels.The proposed workflow yields accurate calculations of relevant parameters for Gobi gravels,providing essential data support for subsequent studies on Gobi environments.展开更多
This paper presents an automated method for discontinuity trace mapping using three-dimensional point clouds of rock mass surfaces.Specifically,the method consists of five steps:(1)detection of trace feature points by...This paper presents an automated method for discontinuity trace mapping using three-dimensional point clouds of rock mass surfaces.Specifically,the method consists of five steps:(1)detection of trace feature points by normal tensor voting theory,(2)co ntraction of trace feature points,(3)connection of trace feature points,(4)linearization of trace segments,and(5)connection of trace segments.A sensitivity analysis was then conducted to identify the optimal parameters of the proposed method.Three field cases,a natural rock mass outcrop and two excavated rock tunnel surfaces,were analyzed using the proposed method to evaluate its validity and efficiency.The results show that the proposed method is more efficient and accurate than the traditional trace mapping method,and the efficiency enhancement is more robust as the number of feature points increases.展开更多
An automatic three-dimensional(3D) reconstruction method based on four-view stereo vision using checkerboard pattern is presented. Mismatches easily exist in traditional binocular stereo matching due to the repeatable...An automatic three-dimensional(3D) reconstruction method based on four-view stereo vision using checkerboard pattern is presented. Mismatches easily exist in traditional binocular stereo matching due to the repeatable or similar features of binocular images. In order to reduce the probability of mismatching and improve the measure precision, a four-camera measurement system which can add extra matching constraints and offer multiple measurements is applied in this work. Moreover, a series of different checkerboard patterns are projected onto the object to obtain dense feature points and remove mismatched points. Finally, the 3D model is generated by performing Delaunay triangulation and texture mapping on the point cloud obtained by four-view matching. This method was tested on the 3D reconstruction of a terracotta soldier sculpture and the Buddhas in the Mogao Grottoes. Their point clouds without mismatched points were obtained and less processing time was consumed in most cases relative to binocular matching. These good reconstructed models show the effectiveness of the method.展开更多
In recent years,addressing ill-posed problems by leveraging prior knowledge contained in databases on learning techniques has gained much attention.In this paper,we focus on complete three-dimensional(3D)point cloud r...In recent years,addressing ill-posed problems by leveraging prior knowledge contained in databases on learning techniques has gained much attention.In this paper,we focus on complete three-dimensional(3D)point cloud reconstruction based on a single red-green-blue(RGB)image,a task that cannot be approached using classical reconstruction techniques.For this purpose,we used an encoder-decoder framework to encode the RGB information in latent space,and to predict the 3D structure of the considered object from different viewpoints.The individual predictions are combined to yield a common representation that is used in a module combining camera pose estimation and rendering,thereby achieving differentiability with respect to imaging process and the camera pose,and optimization of the two-dimensional prediction error of novel viewpoints.Thus,our method allows end-to-end training and does not require supervision based on additional ground-truth(GT)mask annotations or ground-truth camera pose annotations.Our evaluation of synthetic and real-world data demonstrates the robustness of our approach to appearance changes and self-occlusions,through outperformance of current state-of-the-art methods in terms of accuracy,density,and model completeness.展开更多
In this paper, we present a robust subneighborhoods selection technique for feature detection on point clouds scattered over a piecewise smooth surface. The proposed method first identifies all potential features usin...In this paper, we present a robust subneighborhoods selection technique for feature detection on point clouds scattered over a piecewise smooth surface. The proposed method first identifies all potential features using covariance analysis of the local- neighborhoods. To further extract the accurate features from potential features, Gabriel triangles are created in local neighborhoods of each potential feature vertex. These triangles tightly attach to underlying surface and effectively reflect the local geometry struc- ture. Applying a shared nearest neighbor clustering algorithm on ~ 1 reconstructed normals of created triangle set, we classify the lo- cal neighborhoods of the potential feature vertex into multiple subneighborhoods. Each subneighborhood indicates a piecewise smooth surface. The final feature vertex is identified by checking whether it is locating on the intersection of the multiple surfaces. An advantage of this framework is that it is not only robust to noise, but also insensitive to the size of selected neighborhoods. Ex- perimental results on a variety of models are used to illustrate the effectiveness and robustness of our method.展开更多
Fast and accurate measurement of the volume of earthmoving materials is of great signifcance for the real-time evaluation of loader operation efciency and the realization of autonomous operation. Existing methods for ...Fast and accurate measurement of the volume of earthmoving materials is of great signifcance for the real-time evaluation of loader operation efciency and the realization of autonomous operation. Existing methods for volume measurement, such as total station-based methods, cannot measure the volume in real time, while the bucket-based method also has the disadvantage of poor universality. In this study, a fast estimation method for a loader’s shovel load volume by 3D reconstruction of material piles is proposed. First, a dense stereo matching method (QORB–MAPM) was proposed by integrating the improved quadtree ORB algorithm (QORB) and the maximum a posteriori probability model (MAPM), which achieves fast matching of feature points and dense 3D reconstruction of material piles. Second, the 3D point cloud model of the material piles before and after shoveling was registered and segmented to obtain the 3D point cloud model of the shoveling area, and the Alpha-shape algorithm of Delaunay triangulation was used to estimate the volume of the 3D point cloud model. Finally, a shovel loading volume measurement experiment was conducted under loose-soil working conditions. The results show that the shovel loading volume estimation method (QORB–MAPM VE) proposed in this study has higher estimation accuracy and less calculation time in volume estimation and bucket fll factor estimation, and it has signifcant theoretical research and engineering application value.展开更多
In the last two decades,significant research has been conducted in the field of automated extraction of rock mass discontinuity characteristics from three-dimensional(3D)models.This provides several methodologies for ...In the last two decades,significant research has been conducted in the field of automated extraction of rock mass discontinuity characteristics from three-dimensional(3D)models.This provides several methodologies for acquiring discontinuity measurements from 3D models,such as point clouds generated using laser scanning or photogrammetry.However,even with numerous automated and semiautomated methods presented in the literature,there is not one single method that can automatically characterize discontinuities accurately in a minimum of time.In this paper,we critically review all the existing methods proposed in the literature for the extraction of discontinuity characteristics such as joint sets and orientations,persistence,joint spacing,roughness and block size using point clouds,digital elevation maps,or meshes.As a result of this review,we identify the strengths and drawbacks of each method used for extracting those characteristics.We found that the approaches based on voxels and region growing are superior in extracting joint planes from 3D point clouds.Normal tensor voting with trace growth algorithm is a robust method for measuring joint trace length from 3D meshes.Spacing is estimated by calculating the perpendicular distance between joint planes.Several independent roughness indices are presented to quantify roughness from 3D surface models,but there is a need to incorporate these indices into automated methodologies.There is a lack of efficient algorithms for direct computation of block size from 3D rock mass surface models.展开更多
An effective approach is proposed for 3D urban scene reconstruction in the form of point cloud with semantic labeling. Starting from high resolution oblique aerial images,our approach proceeds through three main stage...An effective approach is proposed for 3D urban scene reconstruction in the form of point cloud with semantic labeling. Starting from high resolution oblique aerial images,our approach proceeds through three main stages: geographic reconstruction, geometrical reconstruction and semantic reconstruction. The absolute position and orientation of all the cameras relative to the real world are recovered in the geographic reconstruction stage. Then, in the geometrical reconstruction stage,an improved multi-view stereo matching method is employed to produce 3D dense points with color and normal information by taking into account the prior knowledge of aerial imagery.Finally the point cloud is classified into three classes(building,vegetation, and ground) by a rule-based hierarchical approach in the semantic reconstruction step. Experiments on complex urban scene show that our proposed 3-stage approach could generate reasonable reconstruction result robustly and efficiently.By comparing our final semantic reconstruction result with the manually labeled ground truth, classification accuracies from86.75% to 93.02% are obtained.展开更多
The recent advances in sensing and display technologies have been transforming our living environments drastically. In this paper, a new technique is introduced to accurately reconstruct indoor environments in three-d...The recent advances in sensing and display technologies have been transforming our living environments drastically. In this paper, a new technique is introduced to accurately reconstruct indoor environments in three-dimensions using a mobile platform. The system incorporates 4 ultrasonic sensors scanner system, an HD web camera as well as an inertial measurement unit (IMU). The whole platform is mountable on mobile facilities, such as a wheelchair. The proposed mapping approach took advantage of the precision of the 3D point clouds produced by the ultrasonic sensors system despite their scarcity to help build a more definite 3D scene. Using a robust iterative algorithm, it combined the structure from motion generated 3D point clouds with the ultrasonic sensors and IMU generated 3D point clouds to derive a much more precise point cloud using the depth measurements from the ultrasonic sensors. Because of their ability to recognize features of objects in the targeted scene, the ultrasonic generated point clouds performed feature extraction on the consecutive point cloud to ensure a perfect alignment. The range measured by ultrasonic sensors contributed to the depth correction of the generated 3D images (the 3D scenes). Experiments revealed that the system generated not only dense but precise 3D maps of the environments. The results showed that the designed 3D modeling platform is able to help in assistive living environment for self-navigation, obstacle alert, and other driving assisting tasks.展开更多
The problem of computing a piecewise linear approximation to a surface from its sample has been a focus of research in geometry modeling and graphics due to its widespread applications in computer aided design. In thi...The problem of computing a piecewise linear approximation to a surface from its sample has been a focus of research in geometry modeling and graphics due to its widespread applications in computer aided design. In this paper, we give a new algorithm, to be called offset surface filtering (OSF) algorithm, which computes a piecewise-linear approximation of a smooth surface from a finite set of cloud points. The algorithm has two main stages. First, the surface normal on every point is estimated by the least squares best fitting plane method. Second, we construct a restricted Delaunay triangulation, which is a tubular neighborhood of the surface defined by two offset surfaces. The algorithm is simple and robust. We describe an implementation of it and show example outputs.展开更多
Accurate indoor 3D models are essential for building administration and applications in digital city construction and operation.Developing an automatic and accurate method to reconstruct an indoor model with semantics...Accurate indoor 3D models are essential for building administration and applications in digital city construction and operation.Developing an automatic and accurate method to reconstruct an indoor model with semantics is a challenge in complex indoor environments.Our method focuses on the permanent structure based on a weak Manhattan world assumption,and we propose a pipeline to reconstruct indoor models.First,the proposed method extracts boundary primitives from semantic point clouds,such as floors,walls,ceilings,windows,and doors.The primitives of the building boundary,are aligned to generate the boundaries of the indoor scene,which contains the structure of the horizontal plane and height change in the vertical direction.Then,an optimization algorithm is applied to optimize the geometric relationships among all features based on their categories after the classification process.The heights of feature points are captured and optimized according to their neighborhoods.Finally,a 3D wireframe model of the indoor scene is reconstructed based on the 3D feature information.Experiments on three different datasets demonstrate that the proposed method can be used to effectively reconstruct 3D wireframe models of indoor scenes with high accuracy.展开更多
Background Three-dimensional(3D)building models with unambiguous roof plane geometry parameters,roof structure units,and linked topology provide essential data for many applications related to human activities in urba...Background Three-dimensional(3D)building models with unambiguous roof plane geometry parameters,roof structure units,and linked topology provide essential data for many applications related to human activities in urban environments.The task of 3D reconstruction from point clouds is still in the development phase,especially the recognition and interpretation of roof topological structures.Methods This study proposes a novel visual perception-based approach to automatically decompose and reconstruct building point clouds into meaningful and simple parametric structures,while the associated mutual relationships between the roof plane geometry and roof structure units are expressed by a hierarchical topology tree.First,a roof plane extraction is performed by a multi-label graph cut energy optimization framework and a roof structure graph(RSG)model is then constructed to describe the roof topological geometry with common adjacency,symmetry,and convexity rules.Moreover,a progressive roof decomposition and refinement are performed,generating a hierarchical representation of the 3D roof structure models.Finally,a visual plane fitted residual or area constraint process is adopted to generate the RSG model with different levels of details.Results Two airborne laser scanning datasets with different point densities and roof styles were tested,and the performance evaluation metrics were obtained by International Society for Photogrammetry and Remote Sensing,achieving a correctness and accuracy of 97.7%and 0.29m,respectively.Conclusions The standardized assessment results demonstrate the effectiveness and robustness of the proposed approach,showing its ability to generate a variety of structural models,even with missing data.展开更多
针对多视图三维重建任务中点云完整性欠佳的问题,提出一种基于空间传播的多视图深度估计网络(SPMVSNet)。引入空间传播思想用于复杂条件下的稠密点云重建,并分别设计基于空间传播的混合深度假设策略和空间感知优化模块。混合深度假设策...针对多视图三维重建任务中点云完整性欠佳的问题,提出一种基于空间传播的多视图深度估计网络(SPMVSNet)。引入空间传播思想用于复杂条件下的稠密点云重建,并分别设计基于空间传播的混合深度假设策略和空间感知优化模块。混合深度假设策略采用由粗糙到精细的深度推理方式,将深度估计视为多标签分类任务,对正则化概率体执行交叉熵损失以约束代价体,从而避免回归方法过拟合和收敛速度过慢的问题。空间感知优化模块从包含高级语义特征表示的特征图中获得引导,在进行置信度检查后采用卷积空间传播网络,通过构建亲和矩阵来细化最终的深度图。同时,为解决大多数方法存在的对不满足多视图一致性的不可靠区域重建质量较低的问题,进一步结合注意力机制设计具有样本自适应能力的动态特征提取网络,用于增强模型的局部感知能力。实验结果表明,在DTU数据集上,SP-MVSNet的重建完整性相比于CVP-MVSNet提升32.8%,整体质量提升11.4%。在Tanks and Temples基准和Blended MVS数据集上,SP-MVSNet的表现也优于大多数已知方法,取得了良好的三维重建效果。展开更多
基金funded by the National Natural Science Foundation of China(42071014).
文摘Gobi spans a large area of China,surpassing the combined expanse of mobile dunes and semi-fixed dunes.Its presence significantly influences the movement of sand and dust.However,the complex origins and diverse materials constituting the Gobi result in notable differences in saltation processes across various Gobi surfaces.It is challenging to describe these processes according to a uniform morphology.Therefore,it becomes imperative to articulate surface characteristics through parameters such as the three-dimensional(3D)size and shape of gravel.Collecting morphology information for Gobi gravels is essential for studying its genesis and sand saltation.To enhance the efficiency and information yield of gravel parameter measurements,this study conducted field experiments in the Gobi region across Dunhuang City,Guazhou County,and Yumen City(administrated by Jiuquan City),Gansu Province,China in March 2023.A research framework and methodology for measuring 3D parameters of gravel using point cloud were developed,alongside improved calculation formulas for 3D parameters including gravel grain size,volume,flatness,roundness,sphericity,and equivalent grain size.Leveraging multi-view geometry technology for 3D reconstruction allowed for establishing an optimal data acquisition scheme characterized by high point cloud reconstruction efficiency and clear quality.Additionally,the proposed methodology incorporated point cloud clustering,segmentation,and filtering techniques to isolate individual gravel point clouds.Advanced point cloud algorithms,including the Oriented Bounding Box(OBB),point cloud slicing method,and point cloud triangulation,were then deployed to calculate the 3D parameters of individual gravels.These systematic processes allow precise and detailed characterization of individual gravels.For gravel grain size and volume,the correlation coefficients between point cloud and manual measurements all exceeded 0.9000,confirming the feasibility of the proposed methodology for measuring 3D parameters of individual gravels.The proposed workflow yields accurate calculations of relevant parameters for Gobi gravels,providing essential data support for subsequent studies on Gobi environments.
基金supported by the Special Fund for Basic Research on Scientific Instruments of the National Natural Science Foundation of China(Grant No.4182780021)Emeishan-Hanyuan Highway ProgramTaihang Mountain Highway Program。
文摘This paper presents an automated method for discontinuity trace mapping using three-dimensional point clouds of rock mass surfaces.Specifically,the method consists of five steps:(1)detection of trace feature points by normal tensor voting theory,(2)co ntraction of trace feature points,(3)connection of trace feature points,(4)linearization of trace segments,and(5)connection of trace segments.A sensitivity analysis was then conducted to identify the optimal parameters of the proposed method.Three field cases,a natural rock mass outcrop and two excavated rock tunnel surfaces,were analyzed using the proposed method to evaluate its validity and efficiency.The results show that the proposed method is more efficient and accurate than the traditional trace mapping method,and the efficiency enhancement is more robust as the number of feature points increases.
基金Project(2012CB725301)supported by the National Basic Research Program of ChinaProject(201412015)supported by the National Special Fund for Surveying and Mapping Geographic Information Scientific Research in the Public Welfare of ChinaProject(212000168)supported by the Basic Survey-Mapping Program of National Administration of Surveying,Mapping and Geoinformation of China
文摘An automatic three-dimensional(3D) reconstruction method based on four-view stereo vision using checkerboard pattern is presented. Mismatches easily exist in traditional binocular stereo matching due to the repeatable or similar features of binocular images. In order to reduce the probability of mismatching and improve the measure precision, a four-camera measurement system which can add extra matching constraints and offer multiple measurements is applied in this work. Moreover, a series of different checkerboard patterns are projected onto the object to obtain dense feature points and remove mismatched points. Finally, the 3D model is generated by performing Delaunay triangulation and texture mapping on the point cloud obtained by four-view matching. This method was tested on the 3D reconstruction of a terracotta soldier sculpture and the Buddhas in the Mogao Grottoes. Their point clouds without mismatched points were obtained and less processing time was consumed in most cases relative to binocular matching. These good reconstructed models show the effectiveness of the method.
基金Supported by National Natural Science Foundation of China(Grant No.51935003).
文摘In recent years,addressing ill-posed problems by leveraging prior knowledge contained in databases on learning techniques has gained much attention.In this paper,we focus on complete three-dimensional(3D)point cloud reconstruction based on a single red-green-blue(RGB)image,a task that cannot be approached using classical reconstruction techniques.For this purpose,we used an encoder-decoder framework to encode the RGB information in latent space,and to predict the 3D structure of the considered object from different viewpoints.The individual predictions are combined to yield a common representation that is used in a module combining camera pose estimation and rendering,thereby achieving differentiability with respect to imaging process and the camera pose,and optimization of the two-dimensional prediction error of novel viewpoints.Thus,our method allows end-to-end training and does not require supervision based on additional ground-truth(GT)mask annotations or ground-truth camera pose annotations.Our evaluation of synthetic and real-world data demonstrates the robustness of our approach to appearance changes and self-occlusions,through outperformance of current state-of-the-art methods in terms of accuracy,density,and model completeness.
基金Supported by National Natural Science Foundation of China(No.u0935004,61173102)the Fundamental Research Funds for the Central Unibersities(DUT11SX08)
文摘In this paper, we present a robust subneighborhoods selection technique for feature detection on point clouds scattered over a piecewise smooth surface. The proposed method first identifies all potential features using covariance analysis of the local- neighborhoods. To further extract the accurate features from potential features, Gabriel triangles are created in local neighborhoods of each potential feature vertex. These triangles tightly attach to underlying surface and effectively reflect the local geometry struc- ture. Applying a shared nearest neighbor clustering algorithm on ~ 1 reconstructed normals of created triangle set, we classify the lo- cal neighborhoods of the potential feature vertex into multiple subneighborhoods. Each subneighborhood indicates a piecewise smooth surface. The final feature vertex is identified by checking whether it is locating on the intersection of the multiple surfaces. An advantage of this framework is that it is not only robust to noise, but also insensitive to the size of selected neighborhoods. Ex- perimental results on a variety of models are used to illustrate the effectiveness and robustness of our method.
基金Supported by National Key R&D Program of China(Grant Nos.2020YFB1709901 and 2020YFB1709904)National Natural Science Foundation of China(Grant Nos.51975495 and 51905460)+1 种基金Guangdong Provincial Basic and Applied Basic Research Foundation(Grant No.2021A1515012286)Guiding Funds of Central Government for Supporting the Development of the Local Science and Technology(Grant No.2022L3049).
文摘Fast and accurate measurement of the volume of earthmoving materials is of great signifcance for the real-time evaluation of loader operation efciency and the realization of autonomous operation. Existing methods for volume measurement, such as total station-based methods, cannot measure the volume in real time, while the bucket-based method also has the disadvantage of poor universality. In this study, a fast estimation method for a loader’s shovel load volume by 3D reconstruction of material piles is proposed. First, a dense stereo matching method (QORB–MAPM) was proposed by integrating the improved quadtree ORB algorithm (QORB) and the maximum a posteriori probability model (MAPM), which achieves fast matching of feature points and dense 3D reconstruction of material piles. Second, the 3D point cloud model of the material piles before and after shoveling was registered and segmented to obtain the 3D point cloud model of the shoveling area, and the Alpha-shape algorithm of Delaunay triangulation was used to estimate the volume of the 3D point cloud model. Finally, a shovel loading volume measurement experiment was conducted under loose-soil working conditions. The results show that the shovel loading volume estimation method (QORB–MAPM VE) proposed in this study has higher estimation accuracy and less calculation time in volume estimation and bucket fll factor estimation, and it has signifcant theoretical research and engineering application value.
基金funded by the U.S.National Institute for Occupational Safety and Health(NIOSH)under the Contract No.75D30119C06044。
文摘In the last two decades,significant research has been conducted in the field of automated extraction of rock mass discontinuity characteristics from three-dimensional(3D)models.This provides several methodologies for acquiring discontinuity measurements from 3D models,such as point clouds generated using laser scanning or photogrammetry.However,even with numerous automated and semiautomated methods presented in the literature,there is not one single method that can automatically characterize discontinuities accurately in a minimum of time.In this paper,we critically review all the existing methods proposed in the literature for the extraction of discontinuity characteristics such as joint sets and orientations,persistence,joint spacing,roughness and block size using point clouds,digital elevation maps,or meshes.As a result of this review,we identify the strengths and drawbacks of each method used for extracting those characteristics.We found that the approaches based on voxels and region growing are superior in extracting joint planes from 3D point clouds.Normal tensor voting with trace growth algorithm is a robust method for measuring joint trace length from 3D meshes.Spacing is estimated by calculating the perpendicular distance between joint planes.Several independent roughness indices are presented to quantify roughness from 3D surface models,but there is a need to incorporate these indices into automated methodologies.There is a lack of efficient algorithms for direct computation of block size from 3D rock mass surface models.
基金supported in part by the National Natural Science Foundation of China (61421004,61402316,61333015,61632003)Doctoral Research Fund of Taiyuan University of Science and Technology under grant (20162009)National Key Technologies R&D Program(2016YFB0502002)
文摘An effective approach is proposed for 3D urban scene reconstruction in the form of point cloud with semantic labeling. Starting from high resolution oblique aerial images,our approach proceeds through three main stages: geographic reconstruction, geometrical reconstruction and semantic reconstruction. The absolute position and orientation of all the cameras relative to the real world are recovered in the geographic reconstruction stage. Then, in the geometrical reconstruction stage,an improved multi-view stereo matching method is employed to produce 3D dense points with color and normal information by taking into account the prior knowledge of aerial imagery.Finally the point cloud is classified into three classes(building,vegetation, and ground) by a rule-based hierarchical approach in the semantic reconstruction step. Experiments on complex urban scene show that our proposed 3-stage approach could generate reasonable reconstruction result robustly and efficiently.By comparing our final semantic reconstruction result with the manually labeled ground truth, classification accuracies from86.75% to 93.02% are obtained.
文摘The recent advances in sensing and display technologies have been transforming our living environments drastically. In this paper, a new technique is introduced to accurately reconstruct indoor environments in three-dimensions using a mobile platform. The system incorporates 4 ultrasonic sensors scanner system, an HD web camera as well as an inertial measurement unit (IMU). The whole platform is mountable on mobile facilities, such as a wheelchair. The proposed mapping approach took advantage of the precision of the 3D point clouds produced by the ultrasonic sensors system despite their scarcity to help build a more definite 3D scene. Using a robust iterative algorithm, it combined the structure from motion generated 3D point clouds with the ultrasonic sensors and IMU generated 3D point clouds to derive a much more precise point cloud using the depth measurements from the ultrasonic sensors. Because of their ability to recognize features of objects in the targeted scene, the ultrasonic generated point clouds performed feature extraction on the consecutive point cloud to ensure a perfect alignment. The range measured by ultrasonic sensors contributed to the depth correction of the generated 3D images (the 3D scenes). Experiments revealed that the system generated not only dense but precise 3D maps of the environments. The results showed that the designed 3D modeling platform is able to help in assistive living environment for self-navigation, obstacle alert, and other driving assisting tasks.
基金Project supported by the National Natural Science Foundation of China (No. 10371110) and the National Basic Research Program (973) of China (No. 2004CB318000)
文摘The problem of computing a piecewise linear approximation to a surface from its sample has been a focus of research in geometry modeling and graphics due to its widespread applications in computer aided design. In this paper, we give a new algorithm, to be called offset surface filtering (OSF) algorithm, which computes a piecewise-linear approximation of a smooth surface from a finite set of cloud points. The algorithm has two main stages. First, the surface normal on every point is estimated by the least squares best fitting plane method. Second, we construct a restricted Delaunay triangulation, which is a tubular neighborhood of the surface defined by two offset surfaces. The algorithm is simple and robust. We describe an implementation of it and show example outputs.
基金supported by the National Key Research and Development Program of China(Grant No.2021YFB2501103)the National Science Foundation of China(Grant No.42271429 and 42130106)the Key Research and Development Projects of Shanghai Science and Technology Commission(Grant No.21DZ1204103).
文摘Accurate indoor 3D models are essential for building administration and applications in digital city construction and operation.Developing an automatic and accurate method to reconstruct an indoor model with semantics is a challenge in complex indoor environments.Our method focuses on the permanent structure based on a weak Manhattan world assumption,and we propose a pipeline to reconstruct indoor models.First,the proposed method extracts boundary primitives from semantic point clouds,such as floors,walls,ceilings,windows,and doors.The primitives of the building boundary,are aligned to generate the boundaries of the indoor scene,which contains the structure of the horizontal plane and height change in the vertical direction.Then,an optimization algorithm is applied to optimize the geometric relationships among all features based on their categories after the classification process.The heights of feature points are captured and optimized according to their neighborhoods.Finally,a 3D wireframe model of the indoor scene is reconstructed based on the 3D feature information.Experiments on three different datasets demonstrate that the proposed method can be used to effectively reconstruct 3D wireframe models of indoor scenes with high accuracy.
基金Supported by the National Natural Science Foundation of China(41901405,41725005,41531177)and the National Key Research and Development Program of China(2016YFF0103501).
文摘Background Three-dimensional(3D)building models with unambiguous roof plane geometry parameters,roof structure units,and linked topology provide essential data for many applications related to human activities in urban environments.The task of 3D reconstruction from point clouds is still in the development phase,especially the recognition and interpretation of roof topological structures.Methods This study proposes a novel visual perception-based approach to automatically decompose and reconstruct building point clouds into meaningful and simple parametric structures,while the associated mutual relationships between the roof plane geometry and roof structure units are expressed by a hierarchical topology tree.First,a roof plane extraction is performed by a multi-label graph cut energy optimization framework and a roof structure graph(RSG)model is then constructed to describe the roof topological geometry with common adjacency,symmetry,and convexity rules.Moreover,a progressive roof decomposition and refinement are performed,generating a hierarchical representation of the 3D roof structure models.Finally,a visual plane fitted residual or area constraint process is adopted to generate the RSG model with different levels of details.Results Two airborne laser scanning datasets with different point densities and roof styles were tested,and the performance evaluation metrics were obtained by International Society for Photogrammetry and Remote Sensing,achieving a correctness and accuracy of 97.7%and 0.29m,respectively.Conclusions The standardized assessment results demonstrate the effectiveness and robustness of the proposed approach,showing its ability to generate a variety of structural models,even with missing data.
文摘针对多视图三维重建任务中点云完整性欠佳的问题,提出一种基于空间传播的多视图深度估计网络(SPMVSNet)。引入空间传播思想用于复杂条件下的稠密点云重建,并分别设计基于空间传播的混合深度假设策略和空间感知优化模块。混合深度假设策略采用由粗糙到精细的深度推理方式,将深度估计视为多标签分类任务,对正则化概率体执行交叉熵损失以约束代价体,从而避免回归方法过拟合和收敛速度过慢的问题。空间感知优化模块从包含高级语义特征表示的特征图中获得引导,在进行置信度检查后采用卷积空间传播网络,通过构建亲和矩阵来细化最终的深度图。同时,为解决大多数方法存在的对不满足多视图一致性的不可靠区域重建质量较低的问题,进一步结合注意力机制设计具有样本自适应能力的动态特征提取网络,用于增强模型的局部感知能力。实验结果表明,在DTU数据集上,SP-MVSNet的重建完整性相比于CVP-MVSNet提升32.8%,整体质量提升11.4%。在Tanks and Temples基准和Blended MVS数据集上,SP-MVSNet的表现也优于大多数已知方法,取得了良好的三维重建效果。