公开(公告)号：US10089781B2

公开(公告)日：2018-10-02

申请号：US15389959

申请日：2016-12-23

Applicant: SHENZHEN INSTITUTES OF ADVANCED TECHNOLOGY CHINESE ACADEMY OF SCIENCES

Inventor： Hui Huang ,  Shihao Wu ,  Minglun Gong ,  Matthias Zwicker ,  Daniel Cohen-Or

IPC: G06T17/00 ,  G06T5/00 ,  G06T7/20 ,  G06T7/60 ,  G06T13/40

Abstract: The present disclosure provides a three-dimensional point cloud model reconstruction method and a device. The method comprises: 1) sampling and WLPO-consolidating an input point set to generate an initial surface point set, copying the initial surface point set as an initial position of an interior skeleton point set, to establish a correspondence relation between surface points and skeleton points; 2) moving points in the interior skeleton point set inwards along a direction opposite to a normal vector thereof, to generate interior points; 3) using a self-adaptive anisotropic neighborhood as a regularization term to perform an optimization of the interior points, and generating skeleton points; 4) performing a consolidation and completion of the initial surface point set using the skeleton points, to generate consolidated surface points; 5) reconstructing a three-dimensional point cloud model according to the skeleton points, the surface points and the correspondence relation between the surface points and the skeleton points.

公开(公告)号：US09390552B1

公开(公告)日：2016-07-12

申请号：US14378976

申请日：2013-09-13

Applicant: SHENZHEN INSTITUTES OF ADVANCED TECHNOLOGY CHINESE ACADEMY OF SCIENCES

Inventor： Hui Huang ,  Shihao Wu ,  Baoquan Chen ,  Liangliang Nan

IPC: G06T15/00 ,  G06T17/00

CPC classification number: G06T17/00 ,  G06T2210/56

Abstract: A method for extracting a skeleton form a point cloud includes: obtaining inputted point cloud sampling data; contracting the point cloud using an iterative formula and obtaining skeleton branches, the iterative formula is: arg ⁢ ⁢ min X ⁢ ∑ i ∈ I = ⁢ ∑ j ∈ J ⁢  x i - q i  ⁢ θ ⁡ (  x j - q j  ) + R ⁡ ( X ) , wherein R ⁡ ( X ) = ∑ i ∈ I ⁢ γ i ⁢ ∑ i ′ ∈ I / { i } ⁢ θ ⁡ (  x i - x i ′  ) σ i ⁢  x i - x i ′  , θ ⁡ ( r ) = ⅇ 4 ⁢ ⁢ r 2 h 2 , wherein J represents a point set of the point cloud sampling data, q represents the sampling points in the point set J, I represents a neighborhood point set of the sampling points q, x represents the neighborhood points in the neighborhood point set I. R is a regular term, γ is a weighting coefficient, h is a neighborhood radius of the neighborhood point set I, and σ is a distribution coefficient; and connecting the skeleton branches and obtaining a point cloud skeleton.

Abstract translation: 一种用于从点云提取骨架的方法包括：获得输入的点云采样数据; 使用迭代公式收集点云并获得骨架分支，迭代公式为：arg·peng minXΣi∈I =Σj∈Jx i-q iㄧ ⁡（x j-q j）+ R⁡（X）其中R⁡（X）=Σi∈IγiΣi'∈I / {i}＆thetas; ⁡（x i - x i'）＆sgr ix i - x i'，＆thetas; ⁡（r）=ⅇ4⁢r 2 h 2，其中J表示点云采样数据的点集，q表示点集合J中的采样点，I表示采样点q的邻域点集， x表示邻域点集合I中的邻域点.R是常规项，γ是加权系数，h是邻域点集I的邻域半径，＆sgr; 是分布系数; 并连接骨架分支并获得点云骨架。

公开(公告)号：US10062207B2

公开(公告)日：2018-08-28

申请号：US15342267

申请日：2016-11-03

Applicant: SHENZHEN INSTITUTES OF ADVANCED TECHNOLOGY CHINESE ACADEMY OF SCIENCES

Inventor： Hui Huang ,  Shihao Wu ,  Wei Sun ,  Pinxin Long ,  Minglun Gong ,  Daniel Cohen-Or ,  Oliver Martin Deussen

IPC: G06T17/20 ,  G06T19/20

CPC classification number: G06T17/20 ,  G06T19/20 ,  G06T2200/08 ,  G06T2210/56

Abstract: A method for reconstructing a three-dimensional model of point clouds includes following steps: a, scanning to obtain point clouds of an object required for a three-dimensional model reconstruction; b, analyzing quality of the obtained point clouds; c, computing a new scanning view based on the analyzed point clouds; d, scanning according to the new scanning view and updating the point clouds of step a based on point clouds obtained by the scanning according to the new scanning view in real time; and e, reconstructing a three-dimensional model according to the point clouds updated in real time. The invention further relates to a system for reconstructing a three-dimensional model of point clouds. The invention can realize full automatic reconstruction of a three-dimensional model and create a model of point clouds with high quality. In addition, the invention is easy to implement and can achieve high efficiency.

公开(公告)号：US20170053438A1

公开(公告)日：2017-02-23

申请号：US15342267

申请日：2016-11-03

Applicant: SHENZHEN INSTITUTES OF ADVANCED TECHNOLOGY CHINESE ACADEMY OF SCIENCES

Inventor： Hui Huang ,  Shihao Wu ,  Wei Sun ,  Pinxin Long ,  Minglun Gong ,  Daniel COHEN-OR ,  Oliver Martin DEUSSEN

IPC: G06T17/20

CPC classification number: G06T17/20 ,  G06T19/20 ,  G06T2200/08 ,  G06T2210/56

Abstract: A method for reconstructing a three-dimensional model of point clouds includes following steps: a, scanning to obtain point clouds of an object required for a three-dimensional modelreconstruction; b, analyzing quality of the obtained point clouds; c, computing a new scanning view based on the analyzed point clouds; d, scanning according to the new scanning view and updating the point clouds of step a based on point clouds obtained by the scanning according to the new scanning view in real time; and e, reconstructing a three-dimensional model according to the point clouds updated in real time. The invention further relates to a system for reconstructing a three-dimensional model of point clouds. The invention can realize full automatic reconstruction of a three-dimensional model and create a model of point clouds with high quality. In addition, the invention is easy to implement and can achieve high efficiency.

Abstract translation: 一种用于重建点云三维模型的方法包括以下步骤：a，扫描以获得三维建模所需的对象的点云; b，分析获得的点云的质量; c，基于分析的点云计算新的扫描视图; d，根据新的扫描视图进行扫描，并根据新扫描视图实时扫描获得的点云更新步骤a的点云; e，根据实时更新的点云重建三维模型。 本发明还涉及一种用于重建点云三维模型的系统。 本发明可以实现三维模型的全自动重建，并以高质量创建点云模型。 此外，本发明易于实现并且可以实现高效率。