三维点云数据的精确快速面图元检测方法  

Accurate and Fast Primitive Detection Method for 3D Point Cloud Data

作　　者：石敏[1] 周绍卿 王素琴[1] 朱登明 Shi Min;Zhou Shaoqing;Wang Suqing;Zhu Dengming(School of Control and Computer Engineering,North China Electric Power University,Beijing 102206,China;Taicang Institute of Information Technology,Taicang 215400,Jiangsu,China;Institute of Computing Technology,Chinese Academy of Sciences,Beijing 100190,China)

机构地区：[1]华北电力大学控制与计算机工程学院,北京102206 [2]太仓中科信息技术研究院,江苏太仓215400 [3]中国科学院计算技术研究所,北京100190

出　　处：《激光与光电子学进展》2024年第4期304-316,共13页Laser & Optoelectronics Progress

基　　金：中国科学院科研仪器设备研制项目(YJKYYQ20190055);苏州市科技发展计划项目(SYC2022048)。

摘　　要：目前在零件模型上容易将低曲率圆柱面的局部区域识别为平面,并且只能做到一种图元的快速准确检测。基于此,提出一种能够同时对平面和圆柱面进行精确快速检测的面向点云数据的面图元快速检测方法。该方法分为粗识别和精化两阶段:首先,将点云划分为小粒度基片,计算基片特征,粗识别出平面基片或圆柱面基片;之后,根据过滤条件将圆柱面基片邻近的平面基片过滤,合并具有相同特征的基片得到完整平面和圆柱面。使用5个机械零件数据进行实验验证,并将其与目前流行的两种识别方法进行比较。结果表明,该方法不会出现其他两种方法存在的遗漏和错误识别现象,同时在多圆柱面相连时的准确分割以及曲面参数精度上,优于其他两种方法。Current detection methods for three dimensional(3D)point cloud data easily identify the local area of lowcurvature cylindrical surfaces as planes in a model,but these methods can achieve the fast and accurate identification of only a single element.We propose a fast primitive detection method for point cloud data that can quickly and accurately detect both planar and cylindrical surfaces simultaneously.The proposed method is divided into two stages:coarse recognition and refinement.First,the point cloud is divided into small-grained patches,the patch characteristics are calculated,and the planar and cylindrical patches are roughly identified.Next,according to the filter conditions,the planar patches adjacent to the cylindrical patches are filtered,and then the patches with identical characteristics are combined to obtain the complete planar and cylindrical surfaces.Our experiments show that the proposed method is superior to two popular recognition methods when used to analyze data concerning five mechanical components.Moreover,the proposed method does not exhibit the omission and misidentification errors demonstrated by the other two methods,and the proposed method is more accurate in terms of the surface parameter estimation and segmentation when multiple cylindrical surfaces are connected.

关 键 词：三维点云 图元检测 区域增长 机械零件 基片特征 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]