改进贪婪投影三角化的点云三维重建算法研究  

Research on 3DReconstruction Algorithm of Point Cloud Based on Improved Greedy Projection Triangulation

作　　者：朱乾荣 柏艳红[1,2] 王银 赵兵洋[1] Zhu Qianrong;Bai Yanhong;Wang Yin;Zhao Bingyang(School of Electronic Information Engineering,Taiyuan University of Science and Technology,Taiyuan030024,Shanxi,China;Shanxi Provincial Key Laboratory of Advanced Control and Equipment Intelligence,Taiyuan030024,Shanxi,China)

机构地区：[1]太原科技大学电子信息工程学院,山西太原030024 [2]先进控制与装备智能化山西省重点实验室,山西太原030024

出　　处：《应用激光》2024年第4期230-236,共7页Applied Laser

基　　金：山西省研究生优秀创新项目(2021Y684);山西省重点研发计划项目(201903D121130)。

摘　　要：针对贪婪投影三角化三维重建算法存在耗时长、表面粗糙以及孔洞等问题,提出一种改进贪婪投影三角化的点云三维重建方法。首先改进体素滤波器,以点云数为阈值计算最优体素栅格,并以重心邻近点代替体素实现下采样;采用统计滤波与高斯滤波对简化后点云进行平滑处理;然后利用八叉树代替k维树搜索邻域点云,基于八叉树优化的移动最小二乘法进行法向评估,缩短回溯时间,避免法向指向的二义性;最后基于Delaunay的空间区域增长算法作平面三角化,根据平面内点的拓扑关系获得三角网格曲面。实验结果表明,与传统贪婪投影三角化及泊松算法比较,所提方法在保持算法快速性与局部细节特征的情况下,重建曲面平滑性更好,减少了孔洞数量。This paper proposes an improved greedy projection triangulation algorithm to address issues such as lengthy processing time,rough surface quality,and hole formation.Firstly,the voxel filter is improved,the optimal voxel grid is calculated with the number of point clouds as the threshold,and the adjacent points of the center of gravity are used instead of voxels to achieve down-sampling.Subsequently,statistical and Gaussian filtering are applied to smooth the simplified point cloud.The octree is adopted to replace the k-d tree for neighborhood point cloud search,and a moving least squares method optimized for octree is utilized for normal estimation,which reduces backtracking time and mitigates normal ambiguity.Finally,based on Delaunay′s spatial region growth algorithm,the plane is used Triangulation,obtaining a triangular mesh surface according to the topological relationship of points in the plane.The experimental results show that,compared with the traditional greedy projection triangulation and Poisson algorithm,the proposed method has better reconstruction surface smoothness and reduces the number of holes while maintaining the algorithm′s speed and local details.

关 键 词：三维重建 贪婪投影三角化算法 下采样 平滑处理 移动最小二乘法 

分 类 号：TN249[电子电信—物理电子学] TP391[自动化与计算机技术—计算机应用技术]