CN103778662B - Interactive virtual repairing method for broken cultural relics - Google Patents
Interactive virtual repairing method for broken cultural relics Download PDFInfo
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Abstract
The invention relates to an interactive virtual restoration method for broken cultural relics, which comprises the following steps: (1) collecting and classifying historical relic fragment data; (2) three-dimensional model interaction based on Wiimote; (3) complementary splicing and virtual repairing of the cultural relic fragments; (4) virtually repairing cultural relics based on template matching; (5) and repairing the cultural relic entity based on three-dimensional printing. According to the invention, the MSME triaxial acceleration record, the gyroscope and the infrared sensing strip are utilized to realize interactive control of the cultural relic model, real-time calibration of MSME displacement and attitude 6 freedom degree information is completed, and the limitation of low interactive control accuracy caused by low gravity acceleration, low MEMS sensitivity and the like is overcome; the method solves the problem of virtual repair of the cultural relic fragments which do not conform to the complementary matching relationship but have semantic relevance and conform to the complementary relationship but have edges which are not strictly matched, and completes the rapid solid repair of the cultural relic by using the three-dimensional printer.
Description
Technical field
The present invention relates to the interactive mode in cultural relic digitalization recovery technique field and crush the virtual restorative procedure of historical relic, particularly
Relate to a kind of interactive broken virtual restorative procedure of historical relic and entity restorative procedure.
Background technology
The ancient records and relics being unearthed is after subjected to the weathering of several years, erosion and artificial destruction, and majority has become
Obtain incomplete.After archaeological work person excavates these broken historical relics, need it is classified, clean, splice, bond, manual repair
The operation such as multiple recovers historical relic original appearance.The problem that must mainly solve during staff's actual repair is: how (1) determines fragment
The problem of syntopy, this question essence is difficult math question np complete problem, and worst method needs to carry out with each fragment
Coupling；(2) how to determine the splicing relations problems of the cultural relic fragments the most strictly meeting complementation coupling, existing method is mostly according to disconnected
Matching relationship between broken face or geosutures and then determine the splicing relation between cultural relic fragments, yet with the corruption that there is chip edges
The situations such as erosion, abrasion, the most strictly meet matching relationship, then be difficult to repair.
In recent years, by technology such as 3-dimensional digital collecting device, computer graphics and Digital Image Processing, it is achieved broken
The trend having become development is repaired in the virtual splicing of area of computer aided of historical relic.The coupling of cultural relic fragments and splicing are area of computer aided
Historical relic repair difficult point, itself and it is crucial that how to calculate the literary composition that adjacent interfragmental rigid transformation makes to be positioned under different coordinates
Object model transforms to unified coordinate system, and then makes minimum, the adjacent fragment outward flange transition of the distance between neighboring region the most flat
Sliding.The Bonding Problem essence of cultural relic fragments is the matching problem of curve or curved surface, and the difficult point belonging to field of Computer Graphics is asked
Topic, this problem originates from ancient Jigsaw picture mosaic problem, but there is difference, mainly shows themselves in that the shape of cultural relic fragments is each
The unknown of net shape result, the geometry of cultural relic fragments and texture information different, historical relic reparation may be lost, edge may corrode sternly
The more easy generation erroneous matching of matching relationship spliced between rule, fragment, three-dimensional the most fixing between weight, fragment are swept
Retouch data itself and will affect the result of coupling with much noise.Above-mentioned factor is given based on geosutures, the plane of disruption or texture
The cultural relic fragments splicing joined brings great difficulty.On the other hand part cultural relic fragments may disappear, and utilizes coupling to spell
The method of connecing can not complete the reparation of historical relic, the most urgently proposes new method and solves this problem.Now, three-dimensional fast shaping technology
Have become as the focus of the industrial quarters such as machining development, rich along with the raising of former printing precision and material category
Richness, utilizes 3 D-printing equipment to copy historical relic, and the area to be repaired printing historical relic and then the entity reparation completing historical relic have become
For possible.
At present, cultural relic fragments matching process is broadly divided into three classes: (1) method based on Curve Matching, Kishon etc. proposes
Using arc length, curvature and torsion as the feature description operator of fragment boundary profile, interfragmental matching problem is converted to character
Matching problem between string, it is achieved the coupling of fragment；Fan Shaorong et al. proposes the base at shred characterization outline polygon arc String matching
On plinth, transboundary to cut the correctness vowed as constraints raising outline.(2) method based on SURFACES MATCHING, the method
Become the main flow of matching process；Papaioannou et al. by fragment candidate's plane of disruption identification, definition differential operator as disconnected
The metric function of broken face coupling and three steps of global optimization of matching result realize the splicing of fragment；Brown et al. passes through structure
Build Ribbon network and realize the coupling of the plane of disruption, in order to solve the problem of fragment seriously corroded, use and retrain based on normal
ICP algorithm to eliminate mistake corresponding；Huang et al. proposes many fragments that overall situation and partial situation based on graph theory and optimum theory combines
Matching process, introduces based on integral invariant as the method for plane of disruption feature extraction.(3) method based on Texture Matching, stricture of vagina
Reason is the important attribute of historical relic, based on texture or the seriality of geometry lines, it may be determined that interfragmental matching relationship；Et al. propose a kind of according to cultural artifact surface texture with the method for picture automatic Mosaic cultural relic fragments, the most logical
Texture information around Inpainting and texture analysis method prediction current fragment, then extract the textural characteristics that dopes and
The textural characteristics of other cultural relic fragments, and then introduce that Fourier transformation is theoretical compares textural characteristics by definition metric function,
Calculate rotation and the translation transformation of fragment eventually, it is achieved fragments matching.
But said method, still efficient solution never can not meet complementary relationship but there is semantic dependency and meet complementary pass
System but edge the most strictly mates the cultural relic fragments virtual reparation problem of two kinds of situations, therefore, in the digital protection side of historical relic
The technology in face is especially to the technology research the most in urgent need of strengthening in terms of the coupling of cultural relic fragments and splicing reparation.
Summary of the invention
It is an object of the invention to, the problem existed for prior art, it is provided that a kind of interactive broken virtual reparation of historical relic
Method, efficient solution never meet complementary matching relationship but there is semantic dependency and meet complementary matching relationship but edge the most not
The virtual reparation problem of the cultural relic fragments of two kinds of situations of strict coupling, thus improve the efficiency that historical relic is repaired, and then be historical relic
Digital protection and entity reparation provide the most feasible method.
The present invention solves the technical scheme of problem: provide a kind of interactive broken virtual restorative procedure of historical relic, the method
It is the method for interactive coupling based on cultural relic fragments, comprises the steps:
(1) cultural relic fragments data acquisition and classification；
(2) threedimensional model based on Wiimote is mutual；
(3) virtual reparation is spliced in the complementation of cultural relic fragments；
(4) the virtual reparation of historical relic based on template matching；
(5) cultural relic entity reparation based on 3 D-printing.
Wherein, after described step (2) completes, in the case of cultural relic fragments complementation is mated, carry out described step (3) literary composition
Virtual reparation is spliced in the complementation of thing fragment, then carries out step (5)；After described step (2) completes, complementary of cultural relic fragments
When situation about joining is no, carries out described step (4) the virtual reparation of historical relic based on template matching, then carry out step (5).
Further, described step (2) including: the step (2.1) correction to inertial sensor, by Wiimote by 3 axles
Mems accelerometer and 3 axle MEMS gyroscope control displacement and the attitude of object model, wherein, at the beginning of displacement and pose calibrating are divided into
Begin start alignment, periodic calibration and three steps of manual calibration, through great many of experiments to 3 axis accelerometers and 3 axle gyros
The zero of instrument characteristic partially is added up, and according to its characteristic of cycle repetition, it is carried out linear compensation, it is achieved displacement and attitude 6 are freely
The real time calibration of degree information；Step (2.2) is according to the attitude motion track of MEMS, the six degree of freedom conversion of Controlling model.
Preferably, described step (2.2) including: the rotation transformation of step (2.2.1) computation model；Step (2.2.2) base
The translation transformation of the relative position relation computation model between Wiimote and infrared induction bar.
It is preferred that for the impact overcoming gravity angular velocity, step (2.2.1) calculates mould by public formula I and (II)
The rotation transformation of type:
Public formula I:
In formula: A is the 3 axle acceleration values that Wiimote returns, and θ, γ are the attitude angle of Pitch, Roll respectively；
Public formula II:
In formula:For spin matrix, θ, γ and Ψ are the attitude angle in Pitch, Roll and Yaw direction respectively, by returning
3 axis angular rate value integral and calculating.
Further, described step (3) including: (3.1) realize dividing of the cultural relic fragments plane of disruption based on Laplace operator
Cut；
(3.2) motion of Wiimote interactive controlling cultural relic fragments model is utilized, it is achieved meet the adjacent of complementary matching relationship
The interactive thick coupling of cultural relic fragments；(3.3) plane of disruption of the adjacent fragment obtained for step (3.1) segmentation, utilizes recently
Point iterative algorithm realizes the accurate coupling of cultural relic fragments, introduces the plane of disruption and can not intersect and penetrate as coupling about in matching process
Bundle condition；(3.4) carry out the global registration of multiple fragment, eliminate the deviation accumulation in matching process, improve the accuracy of splicing.
Further, described step (4) including: the selection of (4.1) master pattern: if broken historical relic can be tied according to self
The symmetry of structure or the virtual reparation of the Hole filling algorithms implementation model of threedimensional model, then the model after repairing is as mark
Quasi-mode type；Otherwise from the historical relic model database having built up, select to meet same kind, geometry, structure, age
Complete historical relic model is as master pattern；(4.2) generate master pattern according to the symmetry of self structure: in repair process first
Alternatively demarcate on the symmetrical plane of model no less than three summits, then utilize the symmetry of method of least square computation model to put down
Face.According to calculating the plane of symmetry obtained, mirror method is utilized to calculate the filling data in historical relic model incompleteness region.Due to filler
Can not strictly mate according to original historical relic model, by non-rigid registration method, filling data be carried out to original historical relic model
Filling data after deformation are finally carried out Mesh Fusion with original historical relic model, generate master pattern by geometry deformation.Non-rigid
In registration process, the energy function that definition is made up of error in data function, local stiffness energy function and feature points constraint function,
By using sparse matrix LU decomposition algorithms based on asymmetric many wave front algorithms that the energy equation of definition is solved, it is achieved
Fill data and carry out geometry deformation to original historical relic model；(4.3) cultural relic fragments mates with the rigidity of master pattern: utilize
The rotation of Wiimote interactive controlling cultural relic fragments and translational motion, it is achieved cultural relic fragments and the thick coupling of master pattern, further
Utilize iterative closest point algorithm, it is achieved cultural relic fragments accurately mates with the rigidity of master pattern；(4.4) splicing of cultural relic fragments is repaiied
Multiple: repeat the above steps, utilize cultural relic fragments model to mate with the rigidity of master pattern and realize the most strictly meeting complementation coupling
The virtual reparation of cultural relic fragments.
Further, described step (5) including: the splicing relation of (5.1) output cultural relic fragments, completes the reality of broken historical relic
Body splices；(5.2) cultural relic fragments mathematical model is inputted three-dimensional printer manufacture, complete the entity reparation of historical relic.
The most described Wiimote is remote controller, and described MEMS is MEMS.
By applying interactive mode of the present invention to crush the virtual restorative procedure of historical relic, have following useful compared to prior art
Effect:
(1) by mems accelerometer and the use in conjunction of gyroscope, displacement and pose calibrating are divided into start alignment, week
The calibration of phase property and three steps of manual calibration, enter zero inclined characteristic of 3 axis accelerometers and 3 axle gyroscopes through great many of experiments
Row statistics, compensates error line linearity according to its characteristic of cycle repetition, it is achieved that displacement and pose calibrating are to 6DOF information
Real time calibration, overcomes acceleration of gravity, the most high factor of MEMS sensitivity causes the limitation that innings interactive controlling accuracy is the highest；
(2) the interactive broken virtual restorative procedure of historical relic can give full play to the Professional knowledge of historical relic's protection staff,
And the pre-segmentation and two kinds of technology of many fragments global registration, effectively solution by the plane of disruption meets multiple literary compositions of complementation matching relationship
The Bonding Problem of thing fragment, reduces the problem that splicing result that deviation accumulation during multiple fragments mosaicing causes is undesirable；
(3) the broken virtual reparation of historical relic based on template matching, it is possible to more effectively solve not meet complementary matching relationship
But there is semantic dependency and meet complementary matching relationship but edge the most strictly mates the void of cultural relic fragments of two kinds of situations
Intend reparation problem.Utilize the symmetry of structure, by definition by error in data, local stiffness energy function and feature points constraint letter
Array becomes energy function, uses sparse matrix LU decomposition algorithm based on asymmetric many wave front algorithms to equation direct solution, reality
Now fill data and carry out geometry deformation to original historical relic model, it is achieved the generation of master pattern；Finally utilize cultural relic fragments and mark
The degree of crook concordance of quasi-mode type, determines the accurate location of cultural relic fragments, it is achieved the reparation of broken historical relic；
(4) interactive mode of the present invention is crushed the virtual restorative procedure of historical relic and can be opened up intuitively by the virtual reparation of broken historical relic
Show the empty paraprotehetic result of broken historical relic, list the splicing relation between cultural relic fragments, finally utilize three-dimensional printer to realize historical relic
Imitated and entity reparation.This method effectively overcomes existing repaired by hand to restore, and speed is slow, easily historical relic itself is caused damage
Defect, and the problem making historical relic absent region be difficult to recover is addressed, and is beneficial to realize the quick entity reparation of historical relic.
Generally, interactive mode of the present invention crushes the virtual restorative procedure of historical relic and carries out coupling and the joining method of cultural relic fragments
The extension of innovation, utilizes the three-dimensional printer to realize the entity reparation of historical relic；Utilize cheap MSME 3-axis acceleration to remember, gyro
Instrument and infrared induction bar achieve the interactive controlling of historical relic model, complete MSME displacement and the reality of attitude 6DOF information
Time calibration, overcome acceleration of gravity, the most high factor of MEMS sensitivity causes the limitation that innings interactive controlling accuracy is the highest；?
On the basis of model mates alternately, solve and do not meet complementary matching relationship but there is semantic dependency and meet complementary coupling
Relation but edge the most strictly mate the cultural relic fragments virtual reparation problem of two kinds of situations, and complete historical relic by three-dimensional printer
Quick entity reparation.Digital protection for historical relic provides effective method, is suitable in association area popularization and application.
Accompanying drawing explanation
Fig. 1 is the flow chart that interactive mode of the present invention crushes the virtual restorative procedure of historical relic.
Detailed description of the invention
Describe the present invention below in conjunction with accompanying drawing, but the present invention is not limited to following example.
Understand thoroughly to make the public that the present invention to be had, concrete details is described in detail in the examples below, and
The description not having these details for a person skilled in the art can also understand the present invention completely.
It addition, for avoid the essence of the present invention is caused unnecessary obscuring, do not describe well-known side in detail
Method, process, flow process etc..
As it is shown in figure 1, interactive mode of the present invention crushes the virtual restorative procedure of historical relic comprises the steps: (1) cultural relic fragments number
According to gathering and classification；(2) threedimensional model based on Wiimote is mutual；(3) virtual reparation is spliced in the complementation of cultural relic fragments；(4) base
The virtual reparation of historical relic in template matching；(5) cultural relic entity reparation based on 3 D-printing.
As it is shown in figure 1, in above-mentioned interactive mode crushes the virtual restorative procedure of historical relic, after described step (2) completes, according to
The most complementary coupling of cultural relic fragments carries out step (3) or step (4), wherein, in the case of cultural relic fragments complementation is mated, enters
Virtual reparation is spliced in the complementation of row described step (3) cultural relic fragments；When the situation of cultural relic fragments complementation coupling is no, carry out institute
State the virtual reparation of (4) historical relic based on template matching.
In above-mentioned steps (1) cultural relic fragments data acquisition and classification, including: (1.1) utilize spatial digitizer to complete literary composition
The three dimensional data collection of thing fragment and modeling；(1.2) complete the classification of cultural relic fragments, primarily determine that the coupling of cultural relic fragments is closed
System.
In above-mentioned steps (2) threedimensional model based on Wiimote is mutual, including step (2.1) to inertial sensor
Correction and the attitude motion track of step (2.2) foundation MEMS, the six degree of freedom conversion of Controlling model.
The step (2.1) correction to inertial sensor, is to develop based on Wiimote mainly due to the present invention, mainly depends on
By 3 axle mems accelerometers and 3 axle MEMS gyroscope, 6DOF displacement and attitude are calculated；In Wiimote handle
Pitch, Roll, Yaw angular pose is to be integrated computing by acceleration to obtain, in interactive system any one group or several groups of MEMS
The data that there is drift will bring error to integral operation, and this error constantly can be accumulated in computing later, finally leads
Cause unacceptable result；Therefore, have employed displacement and pose calibrating in the method for the invention and 6DOF information is carried out reality
Shi Jiaozheng, uses multimedia timer to interrupt and smothing filtering improves data reliability.Displacement and pose calibrating are divided into and initially open
Machine alignment, periodic calibration and manual calibration 3 part.
Being initially powered up in step (2.1) is directed at: zero for MEMS is inclined, lays particular stress on multiple owing to it has certain zero
Property, through great many of experiments, zero inclined characteristic of 3 axis accelerometers and 3 axle gyroscopes is added up, and repeat spy according to its cycle
Property carries out linear compensation to it；Zero inclined data are the most constant, during MEMS service life, its calibration parameter
Value may change, and may have certain change when starting every time, therefore before interacting splicing after powering, about need through
The resting state crossing 10s (1000 sampled point) completes to be initially powered up alignment, it is achieved by Wiimote coordinate system and splicing reference coordinate
System's alignment, the change to zero inclined parameter simultaneously compensates.
In step (2.1), after initial alignment, although eliminate zero partially, but owing to calibrating the unstability of parameter,
Can there is parameter drift slowly in the use cycle, this parameter drift can bring by operation object random walk to user
Phenomenon, so using the mode of periodic calibration automatically to be compensated by software, wherein Pitch and Roll direction attitude data
Calibrated by gravity field data, and Yaw direction attitude and X, Y-axis positional information are calibrated by IR Camera information.
Step (2.2) include the rotation transformation of step (2.2.1) computation model and step (2.2.2) based on
The translation transformation of the relative position relation computation model between Wiimote and infrared induction bar.
In step (2.2.1), Wiimote is utilized to calculate rotation transformation.In the case of without obvious displacement or acceleration, can
With think Wiimote accelerometer the simply acceleration of gravity that arrives of sensitivity, the attitude of the Wiimote now changed, gravity adds
Speed component on Wiimote tri-sensitive axes X, Y, Z can produce change, closes by calculating the trigonometric function between each component
System, it is possible to obtain Wiimote is relative to the change in Pitch and the Roll direction of gravitational field (reference frame).In interaction
The attitude angle of Wiimote does not stop to change, and gravity acceleration g component on three axles is also with change, it is therefore necessary to remove weight
The impact of power, the equation being actually used in the acceleration a calculating displacement can be expressed as: public formula I
Wherein, A is the 3 axle acceleration values that Wiimote returns, and θ, γ are the attitude angle in Pitch, Roll direction respectively.Rotation
Transformation is changed to:
Wherein, θ, γ and Ψ are the attitude angle in Pitch, Roll and Yaw direction respectively, by the 3 axis angular rate values returned
Integral and calculating；The i.e. public formula II of application:
In formula:For spin matrix, θ, γ and Ψ are the attitude angle in Pitch, Roll and Yaw direction respectively, by returning
3 axis angular rate value integral and calculating.
Step (2.2.2) translation transformation based on the relative position relation computation model between Wiimote and infrared induction bar.
Utilize infrared induction bar can obtain the relative position of Wiimote, and then Controlling model is along the movement of tri-axles of X, Y, Z, completes
The interactive controlling of model.MEMS sensor is fixed on Wiimote, when the hand-held Wiimote of operator is empty relative to inertia
Between mobile dynamic time, the 6DOF data that Wiimote returns are relative Wiimote local Coordinate Systems rather than relative to reference to sitting
Mark system, therefore after obtaining 6DOF information, need by space coordinate transformation, really Wiimote is consistent with the motion of model for ability
Property, computing formula:
Coordinate after wherein (x', y', z') is conversion, (x, y, z) be original coordinates, and R, T are respectively and rotate and translation change
Change.
In the virtual splicing of above-mentioned steps (3) cultural relic fragments is repaired, including: (3.1) realize based on Laplace operator
The segmentation of the cultural relic fragments plane of disruption；(3.2) Wiimote is utilized to realize the interactive thick coupling of cultural relic fragments；(3.3) for step
(3.1) plane of disruption of the adjacent fragment that segmentation obtains, utilizes iterative closest point algorithm to realize the coupling of cultural relic fragments, matching process
The middle introducing plane of disruption can not intersect and penetrate as matching constraint condition；(3.4) global registration of multiple fragment, elimination are carried out
Deviation accumulation during joining.
In above-mentioned steps (3.1), define V={vi|xi,yi,ziRepresent cultural relic fragments model summit,Represent the model vertices after k Laplce is smooth, then defining scalar
The degree of roughness on surface, descriptive model each summit and the relation of normal, this value is normalized interval in [0,1] and is endowed not
Same color value；The different colours value given according to model surface summit, it is possible to estimate the matching relationship between the plane of disruption, Jin Erwei
Antiquary provides reparation to instruct.
In step (3.3), for the plane of disruption of the adjacent fragment that segmentation obtains, utilize point to the closest approach iteration of plane
Algorithm realizes the accurate coupling of cultural relic fragments, introduces the plane of disruption and can not intersect as constraints, improve splicing in matching process
Accuracy.
In the global registration of step (3.4) multiple fragment, eliminate the deviation accumulation in matching process, improve the accurate of splicing
Property；Computing formula is:
E=arg min ∑ ∑ ∑ | | Tipik-Tjqjk||2
Wherein T={R, t}, pikRepresent fragment SiKth characteristic point, pjkRepresent corresponding fragment SjKth
Characteristic point.
In the virtual reparation of above-mentioned (4) historical relic based on template matching, including: the selection of (4.1) master pattern；(4.2)
Master pattern is generated according to the symmetry of self structure；(4.3) cultural relic fragments mates with the rigidity of master pattern；(4.4) historical relic
The splicing reparation of fragment.
In the selection of step (4.1) master pattern, if broken historical relic can be according to the symmetry or three of self structure
The virtual reparation of the Hole filling algorithms implementation model of dimension module, then the model after repairing is as master pattern；Otherwise from
In the historical relic model database being set up, select to meet same kind, structure, the complete historical relic model in age as master die
Type；
In step (4.2), generate master pattern according to the symmetry of self structure: repair process the most alternatively exists
Demarcate no less than three summits on the symmetrical plane of model, then utilize the symmetrical plane of method of least square computation model.According to
Calculate the plane of symmetry obtained, utilize mirror method to calculate the filling data in historical relic model incompleteness region.Owing to filling data with former
Beginning historical relic model can not strictly mate, and by non-rigid registration method, to original historical relic model, filling data is carried out geometry change
Filling data after deformation are finally carried out Mesh Fusion with original historical relic model, generate master pattern by shape.Non-rigid registration mistake
Cheng Zhong, the energy function that definition is made up of error in data function, local stiffness energy function and feature points constraint function, by making
With sparse matrix LU decomposition algorithms based on asymmetric many wave front algorithms, the energy equation of definition is solved, it is achieved filler
Geometry deformation is carried out according to original historical relic model.The energy function set up is:
For
Kronecker product operator；Feature points constraint energy is:DLFor taking out and target mould from matrix D
The point that type is corresponding is constituted, and D is the sparse vertex matrix of n × 4n, takes out the summit structure corresponding with fragment model from master pattern
Become matrix UL=[l1,…,ll]。
During step (4.3) cultural relic fragments mates with the rigidity of master pattern, utilize Wiimote interactive controlling cultural relic fragments
Rotate and translational motion, it is achieved cultural relic fragments and the thick coupling of master pattern, further with iterative closest point algorithm, it is achieved literary composition
Thing fragment accurately mates with the rigidity of master pattern；
During the splicing of step (4.4) cultural relic fragments is repaired, repeat the above steps, utilize cultural relic fragments model and master pattern
Rigidity coupling realize the most strictly meeting the virtual reparation of cultural relic fragments of complementation coupling.
In above-mentioned steps (5) cultural relic entity based on 3 D-printing is repaired, including step (5.1) output cultural relic fragments
Splicing relation, completes the entity splicing of broken historical relic；Step (5.2) is by cultural relic fragments mathematical model input 3 D-printing mechanism
Make, complete the entity reparation of historical relic.
Following for preferably explaining the principle of the present invention and actual application, provide Application Example, so that affiliated skill
Art skilled person can utilize the present invention well, but the application of the present invention is not limited to given Application Example.
Application Example
As a example by applying interactive mode of the present invention to crush the reparation that the virtual restorative procedure of historical relic carries out unearthed relics figurines.First adopt
Gather the 3-D geometric model of cultural relic fragments with three-dimensional laser scanner, and tentatively complete literary composition according to the conventional steps of archaeological work
The manual sort of thing fragment, determines syntopy possible between fragment.Then, staff's both hands one is respectively held
Wiimote completes the interactive controlling of model, starts mutual front firstly the need of completing to be initially powered up alignment, for MEMS
(MEMS) the zero of device is inclined, owing to it has certain bias repeatability, through great many of experiments to 3 axis accelerometers and 3 axle tops
The zero of spiral shell instrument characteristic partially is added up, and according to its characteristic of cycle repetition, it is carried out linear compensation；Zero inclined data are not always
The most constant, during MEMS service life, value of its calibration parameter may change, and may have certain when starting every time
Change, therefore before interacting splicing after powering, about need initially the opening of resting state through 10s (1000 sampled point)
Machine is directed at, and for by Wiimote coordinate system and splicing reference frame alignment, the change to zero inclined parameter simultaneously compensates,
It is made to keep stable.The rotation transformation of Controlling model, makes the model following Wiimote being in normal place along Yaw direction, Roll
Direction, Pitch direction rotate respectively, owing to being manually difficult to determine the matching relationship of the plane of disruption between adjacent fragment, therefore pass through base
In the plane of disruption dividing method of Laplce, the plane of disruption with same color has higher matching rate, mates for interactive mode
There is provided and instruct.After interactive registration, adjacent fragment has been completed thick coupling, utilizes point to plane the most on this basis
Near point iterative algorithm completes accurately to mate.
But said method only accounts for the coupling between two fragments, do not consider the coupling of multiple fragment, at above-mentioned
Join in the case of result exists larger gap, complete the Optimized Matching of multiple fragment further.The method can solve the problem that not simultaneously
Meet complementary relationship but there is the health of the problem of semantic dependency, such as figurines and that head exists on semantic structure is adjacent.
Meet complementary matching relationship but edge in the case of of the most strictly mating for above-mentioned, then utilize method based on template matching to realize
Repair.The key being modeled as the method for template data, if broken historical relic can be according to the symmetry or three of self structure
The virtual reparation of the Hole filling algorithms implementation model of dimension module, then the model after repairing is as master pattern, otherwise from
In the historical relic model database being set up, select to meet same kind, geometry, structure, the complete historical relic model in age work
For master pattern.According to the interactive result mated of cultural relic fragments with master pattern, utilize cultural relic fragments and master pattern
Degree of crook concordance, calculates the accurate location of cultural relic fragments, it is achieved the reparation of broken historical relic；Finally with tree structure output literary composition
The splicing relation of thing fragment and finally repair result, provides for cultural relic entity reparation and instructs.
The invention is not restricted to above-mentioned embodiment, those skilled in the art made to above-mentioned embodiment any aobvious and
The improvement being clear to or change, all without beyond the design of the present invention and the protection domain of claims.
Claims (5)
1. an interactive mode crushes the virtual restorative procedure of historical relic, it is characterised in that comprise the steps:
(1) cultural relic fragments data acquisition and classification；
(2) threedimensional model based on Wiimote is mutual:
(2.1) correction to inertial sensor, Wiimote controls object by 3 axle mems accelerometers and 3 axle MEMS gyroscope
The displacement of model and attitude, wherein, displacement and pose calibrating are divided into and are initially powered up alignment, periodic calibration and manual calibration three
Individual step, adds up zero inclined characteristic of 3 axle mems accelerometers and 3 axle MEMS gyroscope, and repeats spy according to its cycle
Property carries out linear compensation to it, it is achieved displacement and the real time calibration of attitude 6DOF information；
(2.2) according to the attitude motion track of MEMS, the six degree of freedom conversion of Controlling model；
(3) virtual reparation is spliced in the complementation of cultural relic fragments；
(4) the virtual reparation of historical relic based on template matching；
(5) cultural relic entity reparation based on 3 D-printing；
Wherein, after described step (2) completes, in the case of cultural relic fragments complementation is mated, carry out described step (3) historical relic broken
Virtual reparation is spliced in the complementation of sheet, then carries out step (5)；After described step (2) completes, in cultural relic fragments complementation coupling
When situation is no, carries out described step (4) the virtual reparation of historical relic based on template matching, then carry out step (5).
2. the interactive broken virtual restorative procedure of historical relic as claimed in claim 1, it is characterised in that described step (2.2) is wrapped
Include: (2.2.1) is by public formula I and the rotation transformation of (II) computation model:
Public formula I:
In formula: A is the 3 axle acceleration values that Wiimote returns, and θ, γ are the attitude angle of Pitch, Roll respectively, g is that gravity accelerates
Degree, gx、gy、gzIt is respectively the g component in x, y, z direction；
Public formula II:
In formula:For spin matrix, θ, γ and Ψ are the attitude angle in Pitch, Roll and Yaw direction respectively, by 3 axles returned
Magnitude of angular velocity integral and calculating；
(2.2.2) translation transformation based on the relative position relation computation model between Wiimote and infrared induction bar.
3. the interactive broken virtual restorative procedure of historical relic as claimed in claim 1, it is characterised in that described step (3) including:
(3.1) segmentation of the cultural relic fragments plane of disruption is realized based on Laplace operator；
(3.2) motion of Wiimote interactive controlling cultural relic fragments model is utilized, it is achieved meet the adjacent historical relic of complementary matching relationship
The interactive thick coupling of fragment；
(3.3) plane of disruption of the adjacent fragment obtained for step (3.1) segmentation, utilizes iterative closest point algorithm to realize historical relic broken
The accurate coupling of sheet, introduces the plane of disruption and can not intersect and penetrate as matching constraint condition in matching process；
(3.4) carry out the global registration of multiple fragment, eliminate the deviation accumulation in matching process, and then realize meeting complementation coupling
Virtual reparation is spliced in the complementation of the cultural relic fragments of relation.
4. the interactive broken virtual restorative procedure of historical relic as claimed in claim 1, it is characterised in that described step (4) including:
(4.1) selection of master pattern: if broken historical relic can be according to the symmetry of self structure or the holes filling of threedimensional model
The virtual reparation of algorithm implementation model, then the model after repairing is as master pattern；Otherwise from the historical relic model having built up
In data base, select to meet same kind, geometry, structure, the complete historical relic model in age as master pattern；
(4.2) according to self structure symmetry generate master pattern: in repair process the most alternatively model symmetry put down
Demarcate no less than three summits on face, then utilize the symmetrical plane of method of least square computation model；According to calculating the right of acquisition
Title face, utilizes mirror method to calculate the filling data in historical relic model incompleteness region；Owing to filling data with original historical relic model also
Can not strictly mate, by non-rigid registration method, filling data be carried out geometry deformation to original historical relic model, finally will become
Filling data after shape and original historical relic model carry out Mesh Fusion, generate master pattern；During non-rigid registration, define by
Error in data function, local stiffness energy function and the energy function of feature points constraint function composition, by using based on non-right
The energy equation of definition is solved by the sparse matrix LU decomposition algorithm claiming many wave front algorithms, it is achieved fill data to original literary composition
Object model carries out geometry deformation；
(4.3) cultural relic fragments mates with the rigidity of master pattern: utilize rotation and the translation of Wiimote interactive controlling cultural relic fragments
Conversion, it is achieved cultural relic fragments and the thick coupling of master pattern, further with iterative closest point algorithm, it is achieved cultural relic fragments and mark
The rigidity of quasi-mode type is accurately mated；
(4.4) the splicing reparation of cultural relic fragments: repeat the above steps, utilizes cultural relic fragments model to mate with the rigidity of master pattern
Realize the most strictly meeting the virtual reparation of the cultural relic fragments of complementation coupling.
5. the interactive broken virtual restorative procedure of historical relic as claimed in claim 1, it is characterised in that described step (5) including:
(5.1) export the splicing relation of cultural relic fragments, complete the entity splicing of broken historical relic；
(5.2) cultural relic fragments mathematical model is inputted three-dimensional printer manufacture, complete the entity reparation of historical relic.
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