摘要
目的为了提高彩色物体配准的精度,针对3维点云颜色信息易受光照条件影响的问题,提出一种基于光照补偿的RGB-D(RGB Depth)点云配准方法。方法引入同态滤波算法,并将模型对象的3维点云转化成线性点序列,从而对颜色信息进行光照补偿,以提高颜色信息的一致性;获取模型的颜色和几何特征并加权组合成混合特征,以此定义源点云的特征点,并运用K近邻算法搜索其对应点;用奇异值分解(SVD)得到配准的刚性变换矩阵。结果进行传统的迭代最近点法(ICP)算法、深度信息与色调相结合的算法以及本文算法在不同的光照强度组合的模型配准对比实验,结果显示,在网面凹凸均匀的大卫模型上,配准时间及特征点匹配平均误差方面均约减少到对比方法的1/2;在网面光滑的barrel模型和网面凹凸不一致的阿基米德模型上,特征点匹配平均误差约分别减少到对比方法的1/6和1/8。此外,与Super 4-Points Congruent Set(Super 4PCS)、彩色点云配准算法在不同组合光照强度下进行对比实验,针对4种不同的网面结构模型,本文算法的SIFT特征点距离平均误差全距约减少到对比方法的1/5。结论利用同态滤波算法抑制光照影响,提高了颜色信息的一致性,在一定效果上消除了光照强度不均匀对3维点云配准精度的干扰。
Objective Digital restoration of historical cultural relics,simulation of medical equipment and human organs,and virtual teaching reflect that 3D reconstruction technology plays an extremely important role in the development level of human society. However,in 3D reconstruction,geometric data in the RGB-D( RGB Depth) data collected by a depth camera have low quality and high noise. In 3D point cloud registration,the features of geometric data obtained from such lowquality and high-noise data are the only means to obtain an accurate registration result of the point cloud. However,the point cloud registration effect is not particularly obvious. Given that point cloud noise interference is relatively large and geometric information is unclear,which has a non-negligible effect on the registration accuracy. Color information is introduced to increase the feature information of the model. However,when the model data are collected by as canning device,the color is greatly affected by a change in illumination,and the model surface is affected by changes in illumination intensity and angle of view. These effects lead to an obvious color change and inevitable interference. In this study,an RGB-D point cloud registration method based on illumination compensation is proposed that considers 3D point cloud color information as susceptible to illumination conditions. Method The color data of the model surface consist of the product of illumination and reflection components. The illuminance component varies with spatial position and displays low-frequency information,where as the reflected component has various texture details visible to the human eye and expresses high-frequency information. The brightness of low-frequency information of color is suppressed when combined with homomorphic filtering,the amount of high-frequency information is enhanced,the influence of color changes by illumination is eliminated,and the consistency of color information is improved. RGB-D data acquired by a Kinect device must be sorted to form a lin
作者
苏本跃
储小玉
盛敏
Su Benyue;Chu Xiaoyu;Sheng Min(School of Computer and Information,Anqing Normal University,Anqing 246133,China;Key Laboratory of Intelligent Perception and Computing of Anhui Province,Anqing 246133,China;School of Mathematics and Computational Science,Anqing Normal University,Anqing 246133,China)
出处
《中国图象图形学报》
CSCD
北大核心
2019年第11期1985-1997,共13页
Journal of Image and Graphics
基金
国家自然科学基金项目(11475003,61603003,11471093)
教育部“云数融合科教创新”基金项目(2017A09116)
安徽省高校优秀拔尖人才培育资助项目(gxbj ZD26)~~
关键词
RGB-D数据
光照补偿
HSV空间
同态滤波
混合特征
点云配准
RGB-D data
light compensation
HSV space
homomorphic filtering
mixed characteristics
point cloud registration