發(fā)布時間：2019-03-20 14:47

【摘要】：非接觸式三維測量是人類認(rèn)識世界手段的一次巨大飛躍,其中基于光學(xué)的三維掃描設(shè)備大大提高了人們測量的便捷性。由于被測物自身的遮擋以及三維掃描設(shè)備視場的限制,一般需要將經(jīng)由掃描獲得的多視角點(diǎn)云數(shù)據(jù)進(jìn)行拼接融合后方能獲得對被測物三維信息的完整描述。目前三維掃描設(shè)備單視角精度已經(jīng)能達(dá)到很高的精度,因此,點(diǎn)云的拼接融合對最終測量結(jié)果的影響很大。本文基于自由視角結(jié)構(gòu)光三維掃描,對點(diǎn)云的拼接融合相關(guān)技術(shù)進(jìn)行了研究,主要研究內(nèi)容及成果如下:(1)為解決結(jié)構(gòu)光三維掃描單視角測量的局限性,設(shè)計了一種自由視角三維測量系統(tǒng),提出了一種改進(jìn)的高穩(wěn)定映射拼接方法。根據(jù)圖像間匹配的特征點(diǎn)實(shí)現(xiàn)視角重合,利用結(jié)構(gòu)光相位信息完成特征點(diǎn)三維映射和空間定位。針對特征點(diǎn)相位缺失無法重建的普遍問題,利用鄰域點(diǎn)插值恢復(fù)特征點(diǎn)方法,虛擬重建視角間有效映射點(diǎn),通過四元數(shù)法實(shí)現(xiàn)了視角間點(diǎn)云的剛性變換和拼接。(2)提出了一種基于圖像k鄰域的快速法矢估算方法,在保證估算的法矢精度前提下,大大提高了法矢估算的速度�；�于估算獲得的法矢,利用ICP算法對點(diǎn)云進(jìn)行精拼接,進(jìn)一步提升了經(jīng)由映射拼接進(jìn)行初步定位后的兩視角點(diǎn)云間的拼接精度。(3)研究了一種多視角點(diǎn)云拼接方法。為描述多視角點(diǎn)云間的關(guān)系,引入圖論中最小生成樹的概念,基于最小生成樹,構(gòu)建環(huán)形結(jié)構(gòu)。針對環(huán)形結(jié)構(gòu)點(diǎn)云拼接遇到的問題,設(shè)計了一種新的拼接模型對環(huán)形結(jié)構(gòu)拼接中產(chǎn)生的累積誤差進(jìn)行分配。對于拼接完成的多視角點(diǎn)云,進(jìn)行了基于GPU的點(diǎn)云融合,大大提高了點(diǎn)云融合的速度。(4)搭建了實(shí)驗(yàn)平臺,通過實(shí)驗(yàn)對相關(guān)算法的有效性和實(shí)用性進(jìn)行了驗(yàn)證。
[Abstract]:Non-contact three-dimensional measurement is a great leap in human understanding of the world, in which the optical-based three-dimensional scanning equipment greatly improves the convenience of people's measurement. Due to the occlusion of the measured object and the limitation of the field of view of the three-dimensional scanning equipment, it is generally necessary to splice and fuse the multi-view point cloud data obtained by the scanning to obtain a complete description of the three-dimensional information of the measured object. At present, the precision of single view angle of 3D scanning equipment can reach very high precision, so the splicing fusion of point cloud has a great influence on the final measurement results. Based on the 3D scanning of structured light with free view, this paper studies the fusion technology of point cloud splicing. The main contents and achievements are as follows: (1) in order to solve the limitation of single angle measurement of structured light 3D scanning, the main research contents and achievements are as follows: (1) A free angle 3D measurement system is designed and an improved high stability mapping splicing method is proposed. According to the matching feature points between images, the angle of view is coincident, and the structural light phase information is used to complete the three-dimensional mapping and spatial localization of the feature points. In order to solve the general problem that the phase loss of feature points cannot be reconstructed, the feature points can be recovered by neighborhood interpolation, and the effective mapping points between different angles of view can be reconstructed by virtual reconstruction. Through the quaternion method, the rigid transformation and splicing of the point cloud between the angles of view are realized. (2) A fast normal vector estimation method based on image k-neighborhood is proposed, which greatly improves the speed of normal vector estimation on the premise of guaranteeing the accuracy of normal vector estimation. Based on the estimated normal vector, the ICP algorithm is used to concatenate the point clouds, which further improves the stitching accuracy of the two-view corner clouds after the initial positioning by mapping splicing. (3) A multi-view point cloud splicing method is studied. In order to describe the relationship between multi-view point clouds, the concept of minimum spanning tree in graph theory is introduced, and the ring structure is constructed based on the minimum spanning tree. Aiming at the problems encountered in point cloud splicing of ring structure, a new splicing model is designed to allocate the accumulated errors in ring structure splicing. For the multi-view point cloud, the point cloud fusion based on GPU is carried out, which greatly improves the speed of point cloud fusion. (4) the experimental platform is built, and the validity and practicability of the related algorithms are verified by experiments.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TP391.41

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