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基于法向量和面状指数特征的文物点云棱界配准方法

杨鹏程,杨朝,孟杰,肖渊,崔嘉宝

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杨鹏程, 杨朝, 孟杰, 肖渊, 崔嘉宝. 基于法向量和面状指数特征的文物点云棱界配准方法[J]. , 2023, 16(3): 654-662. doi: 10.37188/CO.2022-0156
引用本文: 杨鹏程, 杨朝, 孟杰, 肖渊, 崔嘉宝. 基于法向量和面状指数特征的文物点云棱界配准方法[J]. , 2023, 16(3): 654-662.doi:10.37188/CO.2022-0156
YANG Peng-cheng, YANG Zhao, MENG Jie, XIAO Yuan, CUI Jia-bao. Aligning method for point cloud prism boundaries of cultural relics based on normal vector and faceted index features[J]. Chinese Optics, 2023, 16(3): 654-662. doi: 10.37188/CO.2022-0156
Citation: YANG Peng-cheng, YANG Zhao, MENG Jie, XIAO Yuan, CUI Jia-bao. Aligning method for point cloud prism boundaries of cultural relics based on normal vector and faceted index features[J].Chinese Optics, 2023, 16(3): 654-662.doi:10.37188/CO.2022-0156

基于法向量和面状指数特征的文物点云棱界配准方法

doi:10.37188/CO.2022-0156
基金项目:陕西省自然科学基础研究计划——面上项目(No. 2022JM-219)
详细信息
    作者简介:

    杨鹏程(1985—),男,副教授,博士,2008年于长沙理工大学获得学士学位,2013年于西安交通大学获得博士学位,主要从事 干涉测量、三维数据精确建模、数字图像处理的研究。Email:yangpengcheng@xpu.edu.cn

    杨 朝(1996—),男,硕士研究生,2019年于西安工程大学获得学士学位,主要研究方向:全息幻影成像,三维数据精确建模。Email:muyi_meng2021@163.com

  • 中图分类号:TP391.9

Aligning method for point cloud prism boundaries of cultural relics based on normal vector and faceted index features

Funds:Supported by Natural Science Basic Research Program of Shaanxi Province (No. 2022JM-219)
More Information
  • 摘要:

    三维重建是文物信息保护常用的方法,其主要通过点云配准技术重组文物空间的点云信息,配准精度对文物复现有重要影响。针对文物表面复杂点云纹理特征配准存在精度低、鲁棒性差的问题,本文提出一种基于法向量夹角和面状指数特征的局域点云配准方法。首先,根据点云平面特性设定法向量夹角和协方差矩阵阈值,提取同时满足这两个特征的点云特征点;其次,采用K近邻搜索方法提取点云局域特征点集,通过刚性变换使两组点云质心位置重合,完成粗配准;最终,在两点云粗配准的基础上,根据迭代最近点ICP进行精配准。与传统ICP方法进行对比分析,结果显示本文方法的点云配准误差下降了3%,匹配耗时降低了50%,有效地提高了配准精度和效率,增强了点云配准的鲁棒性。

  • 图 1不同表面形状的法向量

    Figure 1.Normal vectors of different surface shapes

    图 2点云配准方法流程图

    Figure 2.Flow chart of point cloud alignment method

    图 3模型实测图

    Figure 3.Model measurement diagram

    图 4原始点云图

    Figure 4.Primitive point cloud diagrams

    图 5点云法向量特征图

    Figure 5.Normal vector feature plots of point cloud

    图 6点云面状指数特征图

    Figure 6.Point cloud-like exponential characteristics

    图 7点云特征图

    Figure 7.Point cloud feature diagrams

    图 8特征点云局部配准图

    Figure 8.Feature point cloud local registration diagram

    图 9兵马俑点云配准对比图

    Figure 9.Comparison charts of point cloud registration for terracotta army

    表 1兵马俑点云配准过程实验数据分析

    Table 1.Experimental data analysis of terracotta army point cloud registration process

    方法 点云数目 特征点数 配准时间/s RMSE/mm
    传统ICP 74320/
    66778
    72322/66440 11.73 7.88
    本文方法 6083/5723 6.22 4.73
    下载: 导出CSV
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出版历程
  • 收稿日期:2022-07-09
  • 录用日期:2022-11-03
  • 修回日期:2022-09-06
  • 网络出版日期:2022-11-22

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