模型自适应的扫描视点自动规划  

Model adaptive scanning viewpoint automatic planning

作　　者：杨国庆 王立忠 任茂栋 徐建宁 赵建博 王森 李壮壮 YANG Guo-qing;WANG Li-zhong;REN Mao-dong;XU Jian-ning;ZHAO Jian-bo;WANG Sen;LI Zhuang-zhuang(College of Mechanical Engineering,Xinjiang University,Urumqi 830046,China;State Key Laboratory for Manufacturing Systems Engineering,School of Mechanical Engineering,Xi’an Jiaotong University,Xi’an 710049,China;Innovation Lab,XTOP 3D Technology(Shenzhen)Co.Ltd.,Shenzhen 518060,China)

机构地区：[1]新疆大学机械工程学院,新疆乌鲁木齐830046 [2]西安交通大学机械工程学院机械制造系统工程国家重点实验室,陕西西安710049 [3]新拓三维技术(深圳)有限公司创新实验室,广东深圳518060

出　　处：《中国光学（中英文）》2024年第5期1125-1138,共14页Chinese Optics

基　　金：国家重点研发计划项目(No.2022YFB4601802)。

摘　　要：当进行扫描重建时,示教扫描繁琐且通用性差,目前视点规划的重点依然是自动获取覆盖模型的最少视点集。为了实现对不同复杂程度零部件的自动化三维扫描重建,本文对视点规划过程中可能发生的视点冗余、视点遮挡、双目重建约束等问题进行研究。首先,针对现有视点规划难以对模型进行完整扫描的问题,通过分析面结构光扫描特性,对Lloyd’s算法进行改进,提出使用欧式距离和法向量偏差的能量函数对模型进行Voronoi划分,生成初始扫描视点。接着,针对视点冗余问题,提出了对初始扫描视点进行分裂的迭代算法。最后,针对生成的视点容易产生遮挡的问题,提出了一种视线去遮挡策略,并以提高模型覆盖率为目的,提出了使用追扫视点的方法。实验结果表明:在最佳视点数量下,对于汽车铸件和壳体的覆盖率达到了94%以上,对于简单曲面汽车钣金的覆盖率达到了99.5%以上,并实现了汽车转向节的自动规划扫描,满足视点自动规划的覆盖率和效率以及对不同复杂程度零件的适应性要求。Teaching scans are cumbersome and have poor versatility when performing scan reconstruction.Viewpoint planning has continued to focus on automatically obtaining the minimum set of viewpoints covering the model.To realize automated 3D scanning and reconstruction of parts with different complexity levels,we study issues such as viewpoint redundancy,viewpoint occlusion,and binocular reconstruction constraints that may occur during viewpoint planning.First,given the difficulty of completely scaning the model with existing viewpoint planning,Lloyd's algorithm is improved by analyzing the characteristics of surface structured light scanning and the energy function of Euclidean distance and normal vector deviation is applied to perform Voronoi partitioning of the model to generate an initial scanning viewpoint.Then,to address the viewpoint redundancy problem,an iterative algorithm for splitting the initial scanning viewpoints is proposed.Finally,given the problem that the generated viewpoints are prone to occlusion,a line-of-sight de-occlusion strategy is proposed.Moreover,to improve the model coverage,a method of using panning viewpoints is proposed.The experimental results show that under the optimal number of viewpoints,the coverage rate of automobile castings and shells reaches more than 94%,and that of the simple curved automobile sheet metal reaches more than 99.5%,and automatic planning and scanning of the automotive steering knuckle is realized.Planning scanning meets the coverage and efficiency requirements of automatic viewpoint planning and the adaptability requirements for parts with different complexity levels.

关 键 词：视点规划 VORONOI划分 视点冗余 视点遮挡 双目约束 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术] O348.1[自动化与计算机技术—计算机科学与技术]