三维激光扫描系统中目标点云的颜色复原

沙欧; 吕源治; 凌剑勇; 付瀚毅

doi:10.37188/OPE.20202810.2158

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三维激光扫描系统中目标点云的颜色复原

现代应用光学 | 更新时间：2020-11-16

- 三维激光扫描系统中目标点云的颜色复原
- Color restoration of object surface point cloud in three-dimensional laser scanning system
- 光学精密工程 2020年28卷第10期页码：2158-2167
- 作者机构：
  
  1.中国科学院长春光学精密机械与物理研究所, 吉林长春 130033
  2.中国科学院大学, 北京 100049
- 作者简介：
  
  [ "沙欧(1985-), 男, 江苏人, 博士研究生, 助理研究员, 2012年于浙江大学获得硕士学位, 主要从事结构设计、计算机视觉等研究。E-mail:shaning85@126.com" ]
  吕源治(1986-), 男, 黑龙江齐齐哈尔人, 博士, 副研究员, 2014年于吉林大学获得博士学位, 主要从事立体图像采集、处理、编码与显示等方面的研究。E-mail:lyuyuanzhi@163.com LÜ Yuan-zhi, E-mail:lyuyuanzhi@163.com
- 基金信息：
  
  长春市地院(校、所)合作专项(17DY007);公安部开放课题(2018NELKFKT03);天津市自然科学基金资助项目(16JCYBJC41400);吉林省重点科技研发项目资助(20180201031GX)
- DOI：10.37188/OPE.20202810.2158
  中图分类号： TN247;TH721
- 收稿日期：2020-03-18，
  
  修回日期：2020-04-16，
  
  录用日期：2020-4-16，
  
  纸质出版日期：2020-10-25
- 稿件说明：
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沙欧, 吕源治, 凌剑勇, 等. 三维激光扫描系统中目标点云的颜色复原[J]. 光学精密工程, 2020,28(10):2158-2167.

Ou SHA, Yuan-zhi LÜ, Jian-yong LING, et al. Color restoration of object surface point cloud in three-dimensional laser scanning system[J]. Optics and precision engineering, 2020, 28(10): 2158-2167.
沙欧, 吕源治, 凌剑勇, 等. 三维激光扫描系统中目标点云的颜色复原[J]. 光学精密工程, 2020,28(10):2158-2167. DOI： 10.37188/OPE.20202810.2158.

Ou SHA, Yuan-zhi LÜ, Jian-yong LING, et al. Color restoration of object surface point cloud in three-dimensional laser scanning system[J]. Optics and precision engineering, 2020, 28(10): 2158-2167. DOI： 10.37188/OPE.20202810.2158.

摘要

为建立目标表面的真实彩色三维点云数据模型，以编码标志点作为定位介质，利用目标的无色点云和彩色图像，提出一种三维点云颜色复原方法。在目标附近放置多组编码标志点，用基于激光线的三维扫描设备获取目标无色的三维点云和编码标志点信息；用彩色相机从多视角采集目标及编码标志点的彩色图像，通过Canny边缘检测及亚像素定位算法得到编码标志点的图像坐标；再利用改进的直接线性变换法由编码标志点的世界坐标值及像素坐标值求解出相机相对世界坐标系的位姿矩阵，通过相机成像模型建立点云与彩色图像像元的映射关系；最后，利用插值法计算局部点云的颜色并完成整个点云颜色的融合。采用该方法对多个模型进行了颜色复原实验，彩色三维点云的颜色空间位置偏差小于0.6 mm，重建效率为7.3×10

point/s，彩色三维点云与目标相似度高。该方法可以实现目标彩色三维点云重建，计算精度和效率均能够满足使用需求。

Abstract

To obtain the real colorful three-dimensional (3-D) point cloud data model of a target surface

a 3-D point cloud color restoration method is proposed. The method uses code points

based on the colorless 3-D point cloud and colorful images of an object

as the location medium. First

multiple code points were placed near the object and thecolorless 3-D point cloud of the object; thereafter

the information of code points was captured by a 3-D scanning device based on a structure laser line. A color camera was then used to capture color images of the target from different perspectives

and then

using canny edge detection and a subpixel localization algorithm

coding point coordinate values in the images were calculated. Later

an improved method of direct linear transformation was used to solve the camera pose matrix in the world coordinate system by coding point world coordinates and pixel coordinates.The corresponding relation between the point cloud and color image pixels was then set up by the camera imaging model. Finally

interpolation was used to calculate the color of the local point cloud

and thus

complete color fusion of the entire point cloud was achieved. In the experiments

the proposed method was adopted to restore the color of multiple point cloud models. The color space position deviation of the color 3-D point cloud is less than 0.6 mm

and the reconstruction efficiency is approximately 73 000 point/s.The color 3-D point cloud exhibits high similarity with the targets.Therefore

the method can achieve the goal of color 3-D point cloud reconstruction

and the achieved calculation accuracy and efficiency can satisfy user demands.

关键词

Keywords

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