主动目标几何建模研究方法综述  

Active geometric reconstruction methods for objects: a survey

作　　者：孔研自 朱枫[1,2,4,5] 郝颖明 吴清潇[1,2,4,5] 鲁荣荣 Kong Yanzi;Zhu Feng;Hao Yingming;Wu Qingxiao;Lu Rongrong(Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China;Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China;University of Chinese Academy of Sciences, Beijing 100049, China;Key Laboratory of Opto-Electronic Information Processing, Chinese Academy of Sciences, Shenyang 110016, China;Key Laboratory of Image Understanding and Computer Vision, Shenyang 110016, China)

机构地区：[1]中国科学院沈阳自动化研究所,沈阳110016 [2]中国科学院机器人与智能制造创新研究院,沈阳110016 [3]中国科学院大学,北京100049 [4]中国科学院光电信息处理重点实验室,沈阳110016 [5]辽宁省图像理解与视觉计算重点实验室,沈阳110016

出　　处：《中国图象图形学报》2019年第7期1017-1027,共11页Journal of Image and Graphics

基　　金：国家自然科学基金项目(U1713216);机器人学重点实验室自主课题项目(2017-Z21);国防科技创新特区项目(18-163-11-ZT-002-014-01)~~

摘　　要：目的目标建模是机器视觉领域的主要研究方向之一,主动目标建模是在保证建模完整度的情况下,通过有计划地调节相机的位姿参数,以更少的视点和更短的运动路径实现目标建模的智能感知方法。为了反映主动目标建模的研究现状和最新进展,梳理分析了2004年以来的相关文献,对国内外研究方法做出概括性总结。方法以重构模型类型和规划视点所用信息作为划分依据,将无模型的主动目标建模方法分为基于表面的主动目标建模方法、基于搜索的目标建模方法和两者相结合的方法3大类,重点对前两类方法进行综述,首先解释了每类方法的基本思想,总结每类方法涉及的问题,然后对相关问题的主要研究方法进行归纳和分析,最后将各个问题的解决方法进行合理的搭配组合,形成不同的主动目标建模方法,并对各类方法的优势和局限性进行了总结。结果各类主动目标建模算法在适用场景范围、计算复杂度等方面存在差异,但相对于传统的被动目标建模方法,当前的主动目标建模算法已经能够极大程度地提高建模任务的质量和降低建模所需代价。结论基于表面的主动目标建模方法思想相对简单,但仅适用于表面简单的目标建模。基于搜索的目标建模方法能够量化地评价每一个候选视点,适用广泛且涉及的问题相对于基于表面的方法有更大的解决空间,有更多的研究成果产生。将二者涉及问题的不同研究方法相搭配,可以构成不同的主动目标建模方法子类。Objective Target modeling is one of the main research directions in the field of machine vision,and this technology is widely used in various fields. When modeling the geometry of an object,the data obtained from one viewpoint are often incomplete,and large-area losses may even occur. Therefore,obtaining the information of the target from different viewpoints and fusing the information are necessary to achieve a complete geometric modeling of the target. Active object reconstruction is an intelligent perception method that achieves target modeling with few viewpoints and short motion paths by systematically adjusting the pose parameters of the camera while ensuring model integrity. To reflect the research status and latest development of active object reconstruction,relevant studies since 2004 are combed and analyzed,and a summary of domestic and foreign research methods is made. Method At present,active object reconstruction is mainly aimed at two task types: model-based and non-model active object reconstruction. Model-based methods pre-plan a series of viewpoints before modeling and can achieve full coverage of the target with high quality. Non-model methods have no information on the target at all,and view planning is performed in real time during modeling. In practical applications,the second category appears frequently and is difficult;thus,this study only summarizes non-model methods. On the basis of the rebuilt model type and the information used during view planning,non-model active object reconstruction methods are divided into three categories,namely,surface based,search based,and combined. The basic ideas of each type of method are explained,and the problems involved are summarized. Surface-based methods use point cloud and triangular patch models.They extract shape information from the obtained local model and classify the shape of the unknown region to determine the next viewpoint. Search-based methods use voxel models. A certain method is employed to determine the candidate viewpoints,and then thes

关 键 词：主动目标建模 主动视觉 视点规划 传感器规划 智能感知 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]