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面向RGBD深度数据的快速点云配准方法 (NCIG2016)

苏本跃,马金宇,彭玉升,盛敏,马祖长(安庆师范大学;中国科学院合肥智能机械研究所)

摘 要
目的:真实物体的三维重建一直是计算机图形学、机器视觉等领域的研究热点。针对基于RGBD数据的非匀速非固定角度旋转物体的三维重建问题,提出一种利用旋转平台重建物体三维模型的配准方法。方法:首先使用基于标定物不同角度上的点云数据标定出旋转平台中心轴的位置,从而获得Kinect与旋转平台之间的相对关系;然后通过曲率特征对目标点云进行特征点提取并寻找与相邻点云的对应点;随后,使用二分迭代寻找绕中心轴的最优旋转角度以满足点云间的匹配误差最小;最后,将任意角度获取的点云数据配准到统一的坐标系下并重建模型。结果:使用公用点云数据库和自采集数据库分别对该方法和已有方法在算法效率和配准结果上进行对比实验,实验结果显示该方法效率较高且配准误差更小,且在纹理细节保留上效果较好。结论:本文提出了一种基于RGBD数据进行三维重建的配准方法。该方法仅采用单个Kinect即可实现对非匀速非固定角度旋转物体的三维建模,方便实用,适用于简单快速的三维重建应用场合。
关键词
A method of fast point cloud registration based on RGBD data

Su Benyue,Ma Jinyu,Peng Yusheng,Sheng Min,Ma Zuchang()

Abstract
Objective: Three-dimensional reconstruction of real objects has always been a hot topic in computer graphics, computer vision and other fields. In response to the 3D reconstruction of object which is obtained with non-uniform rotating from non-fixed angle, a registration method of reconstruction object 3D model based on RGBD data is presented by using a rotating platform. Method: Firstly, we use point cloud data of calibration in different angles to calibrate the center axis of the rotating platform, thereby obtain the relative relationship between the Kinect and rotating platform; Secondly, we use the curvature feature of the target point cloud to extract the feature points and find the corresponding points of adjacent point cloud, then exclude the feature points in non-overlapping regions; Thirdly, the dichotomy iterations method is introduced to find the optimal rotation angle around a central axis which meets the minimum of the registration error between the two points cloud. Finally, take the point cloud data that get from any angle to obtain registration under the unified coordinate system and rebuild the model. Results: All experimental results from the common dataset and our own dataset show that this method possesses obvious advantages in the efficiency and accuracy compared with ICP and improved ICP algorithm. Meanwhile, this method is better on texture detail preservation. Conclusions: This paper presents a registration method for the three-dimensional reconstruction with RGBD data. This method simply can realize three-dimensional modeling with the non-uniform rotation from non-fixed angle of the object by single Kinect, it is convenient and practical, suitable for the simple and rapid 3D reconstruction applications.
Keywords
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