CN108038876B - Method and device for detecting and estimating cubic component of space target - Google Patents

Method and device for detecting and estimating cubic component of space target Download PDF

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CN108038876B
CN108038876B CN201711445395.6A CN201711445395A CN108038876B CN 108038876 B CN108038876 B CN 108038876B CN 201711445395 A CN201711445395 A CN 201711445395A CN 108038876 B CN108038876 B CN 108038876B
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plane
cube
planes
cubic
estimation
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张浩鹏
姜志国
魏全茂
赵丹培
谢凤英
史振威
罗晓燕
尹继豪
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Beihang University
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Abstract

The invention discloses a method and a device for detecting and estimating a spatial target cube component, wherein the method comprises the following steps: acquiring a cubic component to be estimated; detecting the cube according to the relative spatial position between every two surfaces of the cube; and carrying out space attitude estimation and cube size estimation on the cube according to a robust estimation method. The method utilizes the relative spatial position relation between every two surfaces of the cube to detect and recognize the cube, and estimates the posture and the size of the cube by a robust estimation method, thereby obtaining a complete cube structure and enhancing the expression capability of a geometric model to a target structure. The method can be used for a space target plane structure model, can be popularized and applied to other target plane models with cubic structures, and has wide application.

Description

Method and device for detecting and estimating cubic component of space target
Technical Field
The invention relates to the field of digital geometric processing, in particular to a method and a device for detecting and estimating a spatial target cube component.
Background
The three-dimensional sensor scans or utilizes a target sequence image to carry out three-dimensional reconstruction, a space three-dimensional point cloud model of a target can be obtained, and tasks such as space target tracking identification, autonomous intersection and butt joint, on-orbit service and the like are applied. The points in the point cloud model only have spatial position information and lack target structure information, so that specific structural analysis is required in practical application, and conventional processing is to detect and identify geometric primitives such as planes, cylinders, cones and the like. Cubes, a common geometry, exist in large numbers on spatial objects. However, since the cube cannot be described by mathematical expressions like other geometric primitives, it cannot be detected by conventional detection methods (such as three-dimensional Hough transform).
Disclosure of Invention
In view of the above problems, the present invention provides a method and an apparatus for detecting and estimating a spatial target cube component, so as to detect and identify a plane belonging to a cube from a spatial target planar structure, and finally estimate a cube structure, thereby improving the expression capability of a spatial target geometric structure model.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, an embodiment of the present invention provides a method for detecting and estimating a spatial target cube component, including:
acquiring a cubic component to be estimated;
detecting the cube according to the relative spatial position between every two surfaces of the cube;
and carrying out space attitude estimation and cube size estimation on the cube according to a robust estimation method.
In one embodiment, the detecting of the cube according to the relative spatial position between two surfaces of the cube comprises: judging the position of a cube plane and determining the cube plane;
the judgment of the cube plane position is a plane pair { Pp,PqThe judgment of the relative spatial position comprises the position relationship of two cubic planes:
the opposite cubic plane discrimination condition: i) plane normal vector parallel, np||nq(ii) a ii) the edge vectors are correspondingly parallel, xp||xq，yp||yqOr xp||yq，yp||xq(ii) a iii) the planes are positioned opposite and of similar dimensions,
Figure BDA0001527427560000021
adjacent cube face discrimination conditions: i) plane normal vector is vertical: n isp⊥nq(ii) a ii) the edge vectors correspond to parallel or perpendicular, xp||xq，xp⊥yq，yp⊥xq，yp⊥yqOr yp||xq，yp⊥yq，xp⊥xq，xp⊥yq(ii) a iii) the planes are adjacently positioned and have similar dimensions, such that PpX ofpEdge and PqX ofqAdjacent, then need to satisfy
Figure BDA0001527427560000022
Wherein c is a reference vertex of plane P ═ Π (c, n, x, y), n is a unit normal vector of plane P, and x and y are edge vectors of plane P; subscripts p and q correspond to different planes; if (a, b)<TθThen consider a | | b, if |90 ° - < a, b-<TθConsidering a ^ b, wherein the angle (a, b) is the included angle between a and b; will plane PaTo plane PbProjection gave P'aThen P isaAnd PbHas a cross-over ratio of
Figure BDA0001527427560000023
S (-) is the planar area; dabIs a plane PaCenter point to plane PbVector D of center pointab＝(ca+(xa+ya)/2)-(cb+(xb+yb)/2)；
The determination of the cube plane comprises:
a) input plane collection
Figure BDA0001527427560000025
Set the best cubic plane group
Figure BDA00015274275600000214
Is empty
Figure BDA0001527427560000024
b) Set of traversal planes
Figure BDA0001527427560000026
In all plane pairs { Pp,PqIf { P }p,PqSatisfy the opposite plane relation or the adjacent plane relation, then will
Figure BDA0001527427560000027
Taking the cubic plane as a reference cubic plane group and entering the next step; if not, then,
Figure BDA0001527427560000028
there is no cubic plane present;
c) set of traversal planes
Figure BDA0001527427560000029
All planes P inmIf, if
Figure BDA00015274275600000210
PmAnd
Figure BDA00015274275600000211
all planes in (1) satisfy the opposite plane relation or the adjacent plane relation, and
Figure BDA00015274275600000212
satisfying a cubic configuration (one surface with only one opposite face, four adjacent faces in different orientations), P will bemIs contained in
Figure BDA00015274275600000213
Namely, it is
Figure BDA0001527427560000038
d) If it is not
Figure BDA0001527427560000039
The number of the middle counter planes is more than
Figure BDA00015274275600000310
Number of opposing planes in, or
Figure BDA00015274275600000311
Number of median opposition planes equal to
Figure BDA00015274275600000312
And the number of opposite planes in
Figure BDA00015274275600000313
Total number of midplane is greater than
Figure BDA00015274275600000314
Total number of planes in (1) is
Figure BDA00015274275600000315
Replacement of
Figure BDA00015274275600000316
e) If it is not
Figure BDA00015274275600000317
In which there is only one set of opposing planes, or
Figure BDA00015274275600000318
If the total number of planes is not less than three, the number is considered to be
Figure BDA00015274275600000319
Is an effective cubic plane set, pair
Figure BDA00015274275600000320
Performing cubic space attitude estimation and cubic size estimation, and obtaining a cubic space attitude estimation and a cubic size estimation
Figure BDA00015274275600000323
In the middle of removing
Figure BDA00015274275600000322
Traversing the steps of a) to d) until
Figure BDA00015274275600000321
No valid cube-plane groups are extracted.
In one embodiment, spatial pose estimation of a cube comprises:
for the input deviceCube plane group
Figure BDA00015274275600000324
Respectively estimating three edge vectors k belonging to { u, v, w };
estimating the direction of the cubic edge vector according to the cubic plane, wherein the formula is as follows:
Figure BDA0001527427560000031
wherein
Figure BDA00015274275600000325
Is a cube plane group, k belongs to { u, v, w } corresponding to the cube edge;
Figure BDA0001527427560000032
and
Figure BDA0001527427560000033
are respectively as
Figure BDA00015274275600000326
A plane perpendicular to k and parallel to k; δ (·, ·) is an exemplary function, δ (a, b) being 1, if a | | b, otherwise δ (a, b) being 0. W (-) is a weight function, and for a plane normal vector n, W (n) is defined as the reciprocal of the root mean square of the total distance error from all plane points to the plane; for the plane edge vector iota ∈ { x, y }, the definition of W (iota) is the degree of uniformity of the distribution of the plane points along the iota direction: projecting the plane points to iota, arranging the projected points in sequence and equally dividing the projected points into NbinSegment, then
Figure BDA0001527427560000034
Wherein s isiIs the proportion of the proxels falling within the ith segment.
In one embodiment, the size estimation of the cube comprises:
for input cube plane groups
Figure BDA00015274275600000327
And the estimated edge vector
Figure BDA0001527427560000035
Estimating cube in each direction
Figure BDA0001527427560000036
Length of dimension (d);
estimating the length of each side of the cube according to the plane of the cube, wherein the calculation formula is as follows:
Figure BDA0001527427560000037
Figure BDA0001527427560000041
wherein
Figure BDA0001527427560000042
Edges of the corresponding cube;
Figure BDA0001527427560000043
is composed of
Figure BDA00015274275600000413
The projection points from the top points of all the planes to k;
Figure BDA0001527427560000044
and
Figure BDA0001527427560000045
are two clusters distributed at two ends of the k direction
Figure BDA0001527427560000046
The projected point of (2) is,
Figure BDA0001527427560000047
for a cluster close to the reference origin o,
Figure BDA0001527427560000048
another cluster away from the reference origin o;
Figure BDA0001527427560000049
is composed of
Figure BDA00015274275600000410
Is comprised of the projection points of the vertices of all planes perpendicular to k.
In a second aspect, an embodiment of the present invention provides a spatial object cube component detection and estimation apparatus, including:
the acquisition module is used for acquiring a cubic component to be estimated;
the detection module is used for detecting the cube according to the relative spatial position between every two surfaces of the cube;
and the estimation module is used for carrying out space attitude estimation and cube size estimation on the cube according to a robust estimation method.
In one embodiment, the detection module includes:
the judgment submodule is used for judging the position of the plane of the cube;
a determination submodule for determining a cube plane;
the judgment of the cube plane position is a plane pair { Pp,PqThe judgment of the relative spatial position comprises the position relationship of two cubic planes:
the opposite cubic plane discrimination condition: i) plane normal vector parallel, np||nq(ii) a ii) the edge vectors are correspondingly parallel, xp||xq，yp||yqOr xp||yq，yp||xq(ii) a iii) the planes are positioned opposite and of similar dimensions,
Figure BDA00015274275600000411
adjacent cube face discrimination conditions: i) plane normal vector is vertical: n isp⊥nq(ii) a ii) edge vector correspondenceParallel or perpendicular, xp||xq，xp⊥yq，yp⊥xq，yp⊥yqOr yp||xq，yp⊥yq，xp⊥xq，xp⊥yq(ii) a iii) the planes are adjacently positioned and have similar dimensions, such that PpX ofpEdge and PqX ofqAdjacent, then need to satisfy
Figure BDA00015274275600000412
Wherein c is a reference vertex of plane P ═ Π (c, n, x, y), n is a unit normal vector of plane P, and x and y are edge vectors of plane P; subscripts p and q correspond to different planes; if (a, b)<TθThen consider a | | b, if |90 ° - < a, b-<TθConsidering a ^ b, wherein the angle (a, b) is the included angle between a and b; will plane PaTo plane PbProjection gave P'aThen P isaAnd PbHas a cross-over ratio of
Figure BDA0001527427560000051
S (-) is the planar area; dabIs a plane PaCenter point to plane PbVector D of center pointab＝(ca+(xa+ya)/2)-(cb+(xb+yb)/2)；
The determination of the cube plane comprises:
a) input plane collection
Figure BDA0001527427560000053
Set the best cubic plane group
Figure BDA0001527427560000054
Is empty
Figure BDA0001527427560000052
b) Set of traversal planes
Figure BDA0001527427560000055
In all plane pairs { Pp,PqIf { P }p,PqSatisfy the opposite plane relation or the adjacent plane relation, then will
Figure BDA0001527427560000056
Taking the cubic plane as a reference cubic plane group and entering the next step; if not, then,
Figure BDA0001527427560000057
there is no cubic plane present;
c) set of traversal planes
Figure BDA0001527427560000058
All planes P inmIf, if
Figure BDA0001527427560000059
PmAnd
Figure BDA00015274275600000510
all planes in (1) satisfy the opposite plane relation or the adjacent plane relation, and
Figure BDA00015274275600000511
satisfying a cubic configuration (one surface with only one opposite face, four adjacent faces in different orientations), P will bemIs contained in
Figure BDA00015274275600000512
Namely, it is
Figure BDA00015274275600000513
d) If it is not
Figure BDA00015274275600000514
The number of the middle counter planes is more than
Figure BDA00015274275600000515
Number of opposing planes in, or
Figure BDA00015274275600000516
Number of median opposition planes equal to
Figure BDA00015274275600000517
And the number of opposite planes in
Figure BDA00015274275600000518
Total number of midplane is greater than
Figure BDA00015274275600000519
Total number of planes in (1) is
Figure BDA00015274275600000520
Replacement of
Figure BDA00015274275600000521
Figure BDA00015274275600000522
e) If it is not
Figure BDA00015274275600000523
In which there is only one set of opposing planes, or
Figure BDA00015274275600000524
If the total number of planes is not less than three, the number is considered to be
Figure BDA00015274275600000525
Is an effective cubic plane set, pair
Figure BDA00015274275600000526
Performing cubic space attitude estimation and cubic size estimation, and obtaining a cubic space attitude estimation and a cubic size estimation
Figure BDA00015274275600000528
In the middle of removing
Figure BDA00015274275600000527
Traversing the steps of a) to d) until
Figure BDA00015274275600000529
No valid cube-plane groups are extracted.
In one embodiment, the estimation module is configured to perform spatial pose estimation on a cube, and includes:
for input cube plane groups
Figure BDA00015274275600000530
Respectively estimating three edge vectors k belonging to { u, v, w };
estimating the direction of the cubic edge vector according to the cubic plane, wherein the formula is as follows:
Figure BDA0001527427560000061
wherein
Figure BDA00015274275600000618
Is a cube plane group, k belongs to { u, v, w } corresponding to the cube edge;
Figure BDA0001527427560000062
and
Figure BDA0001527427560000063
are respectively as
Figure BDA00015274275600000619
A plane perpendicular to k and parallel to k; δ (·, ·) is an exemplary function, δ (a, b) being 1, if a | | b, otherwise δ (a, b) being 0. W (-) is a weight function, and for a plane normal vector n, W (n) is defined as the reciprocal of the root mean square of the total distance error from all plane points to the plane; for the plane edge vector iota ∈ { x, y }, the definition of W (iota) is the degree of uniformity of the distribution of the plane points along the iota direction: projecting the plane points to iota, arranging the projected points in sequence and equally dividing the projected points into NbinSegment, then
Figure BDA0001527427560000064
Wherein s isiIs the proportion of the proxels falling within the ith segment.
In one embodiment, the estimation module is further configured to perform size estimation on the cube, and includes:
for input cube plane groups
Figure BDA00015274275600000620
And the estimated edge vector
Figure BDA0001527427560000065
Estimating cube in each direction
Figure BDA0001527427560000066
Length of dimension (d);
estimating the length of each side of the cube according to the plane of the cube, wherein the calculation formula is as follows:
Figure BDA0001527427560000067
Figure BDA0001527427560000068
wherein
Figure BDA0001527427560000069
Edges of the corresponding cube;
Figure BDA00015274275600000610
is composed of
Figure BDA00015274275600000621
The projection points from the top points of all the planes to k;
Figure BDA00015274275600000611
and
Figure BDA00015274275600000612
are two clusters distributed at two ends of the k direction
Figure BDA00015274275600000613
The projected point of (2) is,
Figure BDA00015274275600000614
for a cluster close to the reference origin o,
Figure BDA00015274275600000615
another cluster away from the reference origin o;
Figure BDA00015274275600000616
is composed of
Figure BDA00015274275600000617
Is comprised of the projection points of the vertices of all planes perpendicular to k.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
according to the technical scheme, compared with the prior art, the method and the device for detecting and estimating the spatial target cube component are disclosed and provided, the method utilizes the relative spatial position relation between every two surfaces of the cube to detect and recognize the cube, and estimates the posture and the size of the cube through a robust estimation method, so that a complete cube structure is obtained, and the expression capacity of a geometric model on the target structure is enhanced. The method can be used for a space target plane structure model, can be popularized and applied to other target plane models with cubic structures, and has wide application.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flow chart of a method for detecting and estimating a cubic component of a spatial target according to an embodiment of the present invention;
FIG. 2 is a spatial plane structure composition definition provided by an embodiment of the present invention;
FIG. 3 is a spatial cube structure composition definition provided by an embodiment of the present invention;
FIG. 4 is a pseudo code diagram of an algorithm of a cube detection and estimation method according to an embodiment of the present invention;
FIGS. 5A1-5A3, 5B1-5B3 are comparative graphs of cube detection estimates provided by embodiments of the present invention;
fig. 6 is a block diagram of a spatial object cube component detection and estimation apparatus according to an embodiment of the present invention.
Detailed Description
For a better understanding of the technical aspects of the present invention, reference will now be made in detail to the embodiments of the present invention as illustrated in the accompanying drawings.
In the following description, various aspects of the invention will be described, however, it will be apparent to those skilled in the art that the invention may be practiced with only some or all of the structures or processes of the present invention. Specific numbers, configurations and sequences are set forth in order to provide clarity of explanation, but it will be apparent that the invention may be practiced without these specific details. In other instances, well-known features have not been set forth in detail in order not to obscure the invention.
The space cube is composed of six surfaces, the six surfaces meet the visual geometrical relationship constraint that every two surfaces are opposite surfaces or adjacent surfaces, and meanwhile, one surface has only one opposite surface and four adjacent surfaces in different directions. The relative spatial position relationship of the cubes can be used as a standard detection of cube surface detection, so that the cube surface plane can be detected and identified from a plurality of spatial rectangular planes.
Aiming at the detection and identification of the spatial target geometric structure, the embodiment of the invention provides a detection and estimation method of a spatial target cube, which detects the cube plane through the relative spatial position relationship between the cube surfaces, estimates the final cube structure and improves the expression capability of a target geometric structure model. The embodiment of the invention discloses a method for detecting and estimating a cubic component of a space target, which is shown in figure 1 and comprises the following steps:
s101, obtaining a cubic component to be estimated;
s102, detecting the cube according to the relative spatial position between every two surfaces of the cube;
s103, carrying out space attitude estimation and cube size estimation on the cube according to a robust estimation method.
The specific implementation flow of the invention is shown in fig. 1, the composition definition of the spatial plane structure is shown in fig. 2, the composition definition of the spatial cube structure is shown in fig. 3, and the implementation algorithm of the cube detection estimation method is shown in fig. 4.
The object processed in this embodiment is a planar structure of the target, and the planar structure can be obtained by performing planar detection (e.g., three-dimensional Hough transform) on a target three-dimensional point cloud (i.e., a three-dimensional point data set of the outer surface of the target). In the present embodiment, the plane in the input target plane structure is represented by P ═ Π (c, n, x, y), where c is a reference vertex of the plane P, n is a unit normal vector of the plane P, x and y are edge vectors of the plane P, and lengths are | x | ═ c, respectivelyx，|y|＝cyTaking the modulus of the vector, and forming a right-hand coordinate system by c-xyn; the cube for detection estimation is denoted as C ═ Ω (C, u, v, w), C is a reference vertex of the cube C, u, v and w are cube C edge vectors, and the lengths are | u | ═ C, respectivelyu，|v|＝cv，|w|＝cwC-uvw constitutes a right-hand coordinate system.
The specific implementation details of each part are as follows:
cube detection
Plane pair { Pp,PqThe judgment of the relative spatial position comprises the position relationship of two cubic planes:
the opposite cubic plane discrimination condition: i) plane normal vector parallel, np||nq(ii) a ii) the edge vectors are correspondingly parallel, xp||xq，yp||yqOr xp||yq，yp||xq(ii) a iii) the planes are positioned opposite and of similar dimensions,
Figure BDA0001527427560000091
adjacent cube face discrimination conditions: i) plane normal vector is vertical: n isp⊥nq(ii) a ii) the edge vectors correspond to parallel or perpendicular, xp||xq，xp⊥yq，yp⊥xq，yp⊥yqOr yp||xq，yp⊥yq，xp⊥xq，xp⊥yq(ii) a iii) the planes are adjacently positioned and have similar dimensions, such that PpX ofpEdge and PqX ofqAdjacent, then need to satisfy
Figure BDA0001527427560000092
Wherein if ≈ (a, b)<TθThen consider a | | b, if |90 ° - < a, b-<TθConsidering a ^ b, wherein the angle (a, b) is the included angle between a and b; will plane PaTo plane PbProjection gave P'aThen P isaAnd PbHas a cross-over ratio of
Figure BDA0001527427560000093
S (-) is the planar area; dabIs a plane PaCenter point to plane PbVector D of center pointab＝(ca+(xa+ya)/2)-(cb+(xb+yb)/2)。
If the plane pair { Pp,PqSatisfying all conditions in a) } Pp,PqThe four are opposite faces in a cube; if { P }p,PqSatisfying all conditions in b) then Pp,PqIs a pair of adjacent faces in the cube.
The determination of the cube plane comprises the following steps:
a) input plane collection
Figure BDA0001527427560000095
Set the best cubic plane group
Figure BDA0001527427560000096
Is empty
Figure BDA0001527427560000094
b) Set of traversal planes
Figure BDA0001527427560000097
In all plane pairs { Pp,PqIf { P }p,PqSatisfy the opposite plane relation or the adjacent plane relation, then will
Figure BDA0001527427560000098
Taking the cubic plane as a reference cubic plane group and entering the next step; if not, then,
Figure BDA0001527427560000099
there is no cubic plane present;
c) set of traversal planes
Figure BDA00015274275600000910
All planes P inmIf, if
Figure BDA00015274275600000911
PmAnd
Figure BDA00015274275600000912
in (1)All planes satisfy the opposite plane relation or the adjacent plane relation, and
Figure BDA0001527427560000109
satisfying a cubic configuration (one surface with only one opposite face, four adjacent faces in different orientations), P will bemIs contained in
Figure BDA00015274275600001010
Namely, it is
Figure BDA00015274275600001011
d) If it is not
Figure BDA00015274275600001012
The number of the middle counter planes is more than
Figure BDA00015274275600001013
Number of opposing planes in, or
Figure BDA00015274275600001014
Number of median opposition planes equal to
Figure BDA00015274275600001015
And the number of opposite planes in
Figure BDA00015274275600001016
Total number of midplane is greater than
Figure BDA00015274275600001017
Total number of planes in (1) is
Figure BDA00015274275600001018
Replacement of
Figure BDA00015274275600001019
e) If it is not
Figure BDA00015274275600001020
There is only one groupOpposite planes, or
Figure BDA00015274275600001021
If the total number of planes is not less than three, the number is considered to be
Figure BDA00015274275600001022
Is an effective cubic plane set, pair
Figure BDA00015274275600001024
Performing cube estimation of step two and step three, and obtaining
Figure BDA00015274275600001023
In the middle of removing
Figure BDA00015274275600001025
Traversing the steps of a) to d) until
Figure BDA00015274275600001026
No valid cube-plane groups are extracted.
Cubic spatial attitude estimation
For input cube plane groups
Figure BDA00015274275600001027
And respectively estimating three edge vectors k belonging to { u, v, w }, and comprising the following steps:
according to the relative position relationship between the plane and k
Figure BDA00015274275600001028
The plane in (1) is divided into two types of planes perpendicular to k and parallel to k:
Figure BDA0001527427560000101
and
Figure BDA0001527427560000102
estimate k
Figure BDA0001527427560000103
Where δ (·, ·) is an exemplary function, δ (a, b) ═ 1, if a | | b, else δ (a, b) ═ 0. W (-) is a weight function, and for a plane normal vector n, W (n) is defined as the reciprocal of the root mean square of the total distance error from all plane points to the plane; for the plane edge vector iota ∈ { x, y }, the definition of W (iota) is the degree of uniformity of the distribution of the plane points along the iota direction: projecting the plane points to iota, arranging the projected points in sequence and equally dividing the projected points into NbinSegment, then
Figure BDA0001527427560000104
Wherein s isiIs the proportion of the proxels falling within the ith segment.
For estimated
Figure BDA0001527427560000105
Make it into a unit so that
Figure BDA0001527427560000106
Is a unit vector;
constructing matrix by using estimated cubic unit edge vector
Figure BDA0001527427560000107
To pair
Figure BDA0001527427560000108
Performing SVD decomposition
Figure BDA0001527427560000111
The sigma is forced to be an identity matrix I, so that orthogonal identity side vectors are obtained
Figure BDA0001527427560000112
Cube size estimation
For input cube plane groups
Figure BDA00015274275600001119
And the estimated edge vector
Figure BDA0001527427560000113
Estimating cube in each direction
Figure BDA0001527427560000114
The length of the dimension is divided into the following steps:
1) will be provided with
Figure BDA00015274275600001120
The vertexes of all the planes in the image are projected to k to obtain a projection point set
Figure BDA0001527427560000115
2)
Figure BDA0001527427560000116
Will be distributed at both ends in the k direction, and is denoted as
Figure BDA0001527427560000117
And
Figure BDA0001527427560000118
wherein
Figure BDA0001527427560000119
For a cluster of proxels close to the reference origin o,
Figure BDA00015274275600001110
another cluster of projection points far from the reference origin o;
3) estimating weighted center positions of the projection points of each cluster
Figure BDA00015274275600001111
And
Figure BDA00015274275600001112
Figure BDA00015274275600001113
wherein
Figure BDA00015274275600001114
Is composed of
Figure BDA00015274275600001115
Is comprised of the projection points of the vertices of all planes perpendicular to k. The length dimension of the cube C in the direction k is
Figure BDA00015274275600001116
4) The finally estimated edge vector of the cube C ═ Ω (C, u, v, w) is
Figure BDA00015274275600001117
The reference vertex position is
Figure BDA00015274275600001118
The comparison graphs of the results of the cube detection estimation of the plane structures of the "GPS" model and the "Helios" model by the method of the embodiment are shown in FIGS. 5A1-5A3 and 5B1-5B 3. Fig. 5a1-5A3 show the plane structure of the "GPS" model before cube detection, the estimation result of the "GPS" plane structure cube detection, and the geometry structure after point cloud removal, respectively, and fig. 5B1-5B3 correspond to the results of the "Helios" model. It is obvious from the comparison of the results, that the method of the embodiment effectively detects and estimates the correct cubic structure from the target plane structure, and improves the expression capability of the model.
The invention fully utilizes the relative spatial position relationship between every two surfaces of the cube, carries out cube detection and identification on the basis of a geometric plane structure model, and estimates the spatial posture and the size of the cube by utilizing the cube plane obtained by detection. After the processing by the method, planes originally belonging to the cube are detected and identified and finally estimated to obtain a corresponding cube structure, so that the expression capacity of the geometric model on the target structure is improved; the method has simple and intuitive principle, small calculation complexity and stable and reliable result. The method can be used for a space target plane structure model, can be popularized and applied to other target plane models with cubic structures, and has wide application.
Based on the same inventive concept, the embodiment of the present invention further provides a device for detecting and estimating a spatial target cube component, and as the principle of the problem solved by the device is similar to that of the method for detecting and estimating a spatial target cube component, the implementation of the device may refer to the implementation of the method, and repeated details are omitted.
An embodiment of the present invention provides a spatial target cube component detection and estimation apparatus, which is shown in fig. 6, and includes:
an obtaining module 61, configured to obtain a cubic component to be estimated;
the detection module 62 is used for detecting the cube according to the relative spatial position between every two surfaces of the cube;
and the estimation module 63 is used for performing space attitude estimation and cube size estimation on the cube according to a robust estimation method.
In one embodiment, the detection module 62 includes:
the discrimination submodule 621 is used for discriminating the position of the cube plane;
a determination sub-module 622 for determination of the cube plane;
the judgment of the cube plane position is a plane pair { Pp,PqThe judgment of the relative spatial position comprises the position relationship of two cubic planes:
the opposite cubic plane discrimination condition: i) plane normal vector parallel, np||nq(ii) a ii) the edge vectors are correspondingly parallel, xp||xq，yp||yqOr xp||yq，yp||xq(ii) a iii) the planes are positioned oppositely and have similar sizes，
Figure BDA0001527427560000121
Adjacent cube face discrimination conditions: i) plane normal vector is vertical: n isp⊥nq(ii) a ii) the edge vectors correspond to parallel or perpendicular, xp||xq，xp⊥yq，yp⊥xq，yp⊥yqOr yp||xq，yp⊥yq，xp⊥xq，xp⊥yq(ii) a iii) the planes are adjacently positioned and have similar dimensions, such that PpX ofpEdge and PqX ofqAdjacent, then need to satisfy
Figure BDA0001527427560000131
Wherein c is a reference vertex of plane P ═ Π (c, n, x, y), n is a unit normal vector of plane P, and x and y are edge vectors of plane P; subscripts p and q correspond to different planes; if (a, b)<TθThen consider a | | b, if |90 ° - < a, b-<TθConsidering a ^ b, wherein the angle (a, b) is the included angle between a and b; will plane PaTo plane PbProjection gave P'aThen P isaAnd PbHas a cross-over ratio of
Figure BDA0001527427560000132
S (-) is the planar area; dabIs a plane PaCenter point to plane PbVector D of center pointab＝(ca+(xa+ya)/2)-(cb+(xb+yb)/2)；
The determination of the cube plane comprises:
a) input plane collection
Figure BDA0001527427560000135
Set the best cubic plane group
Figure BDA0001527427560000136
Is empty
Figure BDA0001527427560000133
b) Set of traversal planes
Figure BDA0001527427560000137
In all plane pairs { Pp,PqIf { P }p,PqSatisfy the opposite plane relation or the adjacent plane relation, then will
Figure BDA0001527427560000138
Taking the cubic plane as a reference cubic plane group and entering the next step; if not, then,
Figure BDA0001527427560000139
there is no cubic plane present;
c) set of traversal planes
Figure BDA00015274275600001310
All planes P inmIf, if
Figure BDA0001527427560000134
PmAnd
Figure BDA00015274275600001311
all planes in (1) satisfy the opposite plane relation or the adjacent plane relation, and
Figure BDA00015274275600001312
satisfying a cubic configuration (one surface with only one opposite face, four adjacent faces in different orientations), P will bemIs contained in
Figure BDA00015274275600001313
Namely, it is
Figure BDA00015274275600001314
d) If it is not
Figure BDA00015274275600001315
The number of the middle counter planes is more than
Figure BDA00015274275600001316
Number of opposing planes in, or
Figure BDA00015274275600001317
Number of median opposition planes equal to
Figure BDA00015274275600001318
And the number of opposite planes in
Figure BDA00015274275600001319
Total number of midplane is greater than
Figure BDA00015274275600001320
Total number of planes in (1) is
Figure BDA00015274275600001321
Replacement of
Figure BDA00015274275600001322
Figure BDA00015274275600001323
e) If it is not
Figure BDA00015274275600001324
In which there is only one set of opposing planes, or
Figure BDA00015274275600001325
If the total number of planes is not less than three, the number is considered to be
Figure BDA00015274275600001326
Is an effective cubic plane set, pair
Figure BDA00015274275600001327
Performing cubic space attitude estimation and cubic size estimation, and obtaining a cubic space attitude estimation and a cubic size estimation
Figure BDA00015274275600001329
In the middle of removing
Figure BDA00015274275600001330
Traversing the steps of a) to d) until
Figure BDA00015274275600001328
No valid cube-plane groups are extracted.
In one embodiment, the estimation module 63 is configured to perform spatial pose estimation on a cube, and includes:
for input cube plane groups
Figure BDA00015274275600001416
Respectively estimating three edge vectors k belonging to { u, v, w };
estimating the direction of the cubic edge vector according to the cubic plane, wherein the formula is as follows:
Figure BDA0001527427560000141
wherein
Figure BDA00015274275600001417
Is a cube plane group, k belongs to { u, v, w } corresponding to the cube edge;
Figure BDA00015274275600001418
and
Figure BDA00015274275600001419
are respectively as
Figure BDA00015274275600001420
A plane perpendicular to k and parallel to k; δ (·, ·) is an exemplary function, δ (a, b) being 1, if a | | b, otherwise δ (a, b) being 0. W (-) is a weight function, and for a plane normal vector n, W (n) is defined as the reciprocal of the root mean square of the total distance error from all plane points to the plane; determination of the plane edge vector iota ∈ { x, y }, W (iota)Meaning the degree of uniformity of the distribution of the planar points along the iota direction: projecting the plane points to iota, arranging the projected points in sequence and equally dividing the projected points into NbinSegment, then
Figure BDA0001527427560000142
Wherein s isiIs the proportion of the proxels falling within the ith segment.
In one embodiment, the estimating module 63 is further configured to perform size estimation on the cube, and includes:
for input cube plane groups
Figure BDA00015274275600001421
And the estimated edge vector
Figure BDA0001527427560000143
Estimating cube in each direction
Figure BDA0001527427560000144
Length of dimension (d);
estimating the length of each side of the cube according to the plane of the cube, wherein the calculation formula is as follows:
Figure BDA0001527427560000145
Figure BDA0001527427560000146
wherein
Figure BDA0001527427560000147
Edges of the corresponding cube;
Figure BDA0001527427560000148
is composed of
Figure BDA00015274275600001422
All planes inThe vertex of (2) to k;
Figure BDA0001527427560000149
and
Figure BDA00015274275600001410
are two clusters distributed at two ends of the k direction
Figure BDA00015274275600001411
The projected point of (2) is,
Figure BDA00015274275600001412
for a cluster close to the reference origin o,
Figure BDA00015274275600001413
another cluster away from the reference origin o;
Figure BDA00015274275600001414
is composed of
Figure BDA00015274275600001415
Is comprised of the projection points of the vertices of all planes perpendicular to k.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all the functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may be separately used as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media capable of storing program codes, such as a removable Memory device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, and an optical disk.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (6)

1. A method for detecting and estimating a component of a spatial target cube, comprising:
acquiring a cubic component to be estimated;
detecting the cube according to the relative spatial position between every two surfaces of the cube;
performing space attitude estimation and cube size estimation on a cube according to a robust estimation method;
the detection of the cube is carried out according to the relative spatial position between every two surfaces of the cube, and the detection comprises the following steps: judging the position of a cube plane and determining the cube plane;
the judgment of the cube plane position is a plane pair { Pp,PqThe judgment of the relative spatial position comprises the position relationship of two cubic planes:
the opposite cubic plane discrimination condition: i) plane normal vector parallel, np||nq(ii) a ii) the edge vectors are correspondingly parallel, xp||xq，yp||yqOr xp||yq，yp||xq(ii) a iii) the planes are positioned opposite and of similar dimensions,
Figure FDA0003137731140000011
adjacent cube face discrimination conditions: i) plane normal vector is vertical: n isp⊥nq(ii) a ii) the edge vectors correspond to parallel or perpendicular, xp||xq，xp⊥yq，yp⊥xq，yp⊥yqOr yp||xq，yp⊥yq，xp⊥xq，xp⊥yq(ii) a iii) the planes are adjacently positioned and have similar dimensions, such that PpX ofpEdge and PqX ofqAdjacent, then need to satisfy
Figure FDA0003137731140000012
Wherein c is a reference vertex of plane P ═ Π (c, n, x, y), n is a unit normal vector of plane P, and x and y are edge vectors of plane P; subscripts p and q correspond to different planes; if (a, b)<TθThen consider a | | b, if |90 ° - < a, b-<TθConsidering a ^ b, wherein the angle (a, b) is the included angle between a and b; will plane PaTo plane PbProjection gave P'aThen P isaAnd PbHas a cross-over ratio of
Figure FDA0003137731140000013
S (-) is the planar area; dabIs a plane PaCenter point to plane PbVector D of center pointab＝(ca+(xa+ya)/2)-(cb+(xb+yb)/2)；
The determination of the cube plane comprises:
a) input plane collection
Figure FDA0003137731140000014
Set the best cubic plane group
Figure FDA0003137731140000015
Is empty
Figure FDA0003137731140000016
b) Set of traversal planes
Figure FDA0003137731140000017
In all plane pairs { Pp,PqIf { P }p,PqWhen the opposite cube face discrimination condition or the adjacent cube face discrimination condition is satisfied, the
Figure FDA0003137731140000021
Taking the cubic plane as a reference cubic plane group and entering the next step; if not, then,
Figure FDA0003137731140000022
there is no cubic plane present;
c) set of traversal planes
Figure FDA0003137731140000023
All planes P inmIf, if
Figure FDA0003137731140000024
PmAnd
Figure FDA0003137731140000025
all planes in (1) satisfy the opposite plane relation or the adjacent plane relation, and
Figure FDA0003137731140000026
the cube configuration is satisfied: one surface has only one opposite surface and four adjacent surfaces in different directions, P ismIs contained in
Figure FDA0003137731140000027
Namely, it is
Figure FDA0003137731140000028
d) If it is not
Figure FDA0003137731140000029
The number of the middle counter planes is more than
Figure FDA00031377311400000210
Number of opposing planes in, or
Figure FDA00031377311400000211
Number of median opposition planes equal to
Figure FDA00031377311400000212
And the number of opposite planes in
Figure FDA00031377311400000213
Total number of midplane is greater than
Figure FDA00031377311400000214
Total number of planes in (1) is
Figure FDA00031377311400000215
Replacement of
Figure FDA00031377311400000216
Figure FDA00031377311400000217
e) If it is not
Figure FDA00031377311400000218
In which at least one set of opposing planes is present, or
Figure FDA00031377311400000219
If the total number of planes is not less than three, the number is considered to be
Figure FDA00031377311400000220
Is an effective cubic plane set, pair
Figure FDA00031377311400000221
Performing cubic space attitude estimation and cubic size estimation, and obtaining a cubic space attitude estimation and a cubic size estimation
Figure FDA00031377311400000222
In the middle of removing
Figure FDA00031377311400000223
Traversing the steps of a) to d) until
Figure FDA00031377311400000224
No valid cube-plane groups are extracted.
2. The method of claim 1, wherein performing spatial pose estimation on a cube comprises:
for input cube plane groups
Figure FDA00031377311400000225
Respectively estimating three edge vectors k belonging to { u, v, w };
estimating the direction of the cubic edge vector according to the cubic plane, wherein the formula is as follows:
Figure FDA00031377311400000226
wherein
Figure FDA00031377311400000227
Is a cube plane group, k belongs to { u, v, w } corresponding to the cube edge;
Figure FDA00031377311400000228
and
Figure FDA00031377311400000229
are respectively as
Figure FDA00031377311400000230
A plane perpendicular to k and parallel to k; δ (·, ·) is an exemplary function, δ (a, b) equals 1 if a | | b, otherwise δ (a, b) equals 0; w (-) is a weight function, and for a plane normal vector n, W (n) is defined as the reciprocal of the root mean square of the total distance error from all plane points to the plane; for the plane edge vector iota ∈ { x, y }, the definition of W (iota) is the degree of uniformity of the distribution of the plane points along the iota direction: projecting the plane points to iota, arranging the projected points in sequence and equally dividing the projected points into NbinSegment, then
Figure FDA00031377311400000231
Wherein s isiIs the proportion of the proxels falling within the ith segment.
3. The method of any of claims 1-2, wherein performing size estimation on the cube comprises:
for input cube plane groups
Figure FDA0003137731140000031
And the estimated edge vector
Figure FDA0003137731140000032
Estimating cube in each direction
Figure FDA0003137731140000033
Length of dimension (d);
estimating the length of each side of the cube according to the plane of the cube, wherein the calculation formula is as follows:
Figure FDA0003137731140000034
Figure FDA0003137731140000035
wherein
Figure FDA0003137731140000036
Edges of the corresponding cube;
Figure FDA0003137731140000037
is composed of
Figure FDA0003137731140000038
The projection points from the top points of all the planes to k;
Figure FDA0003137731140000039
and
Figure FDA00031377311400000310
are two clusters distributed at two ends of the k direction
Figure FDA00031377311400000311
The projected point of (2) is,
Figure FDA00031377311400000312
for a cluster close to the reference origin o,
Figure FDA00031377311400000313
another cluster away from the reference origin o;
Figure FDA00031377311400000314
is composed of
Figure FDA00031377311400000315
Is comprised of the projection points of the vertices of all planes perpendicular to k.
4. A spatial object cube component detection and estimation apparatus, comprising:
the acquisition module is used for acquiring a cubic component to be estimated;
the detection module is used for detecting the cube according to the relative spatial position between every two surfaces of the cube;
the estimation module is used for carrying out space attitude estimation and cube size estimation on the cube according to a robust estimation method;
the detection module comprises:
the judgment submodule is used for judging the position of the plane of the cube;
a determination submodule for determining a cube plane;
the judgment of the cube plane position is a plane pair { Pp,PqThe judgment of the relative spatial position comprises the position relationship of two cubic planes:
the opposite cubic plane discrimination condition: i) plane normal vector parallel, np||nq(ii) a ii) the edge vectors are correspondingly parallel, xp||xq，yp||yqOr xp||yq，yp||xq(ii) a iii) the planes are positioned opposite and of similar dimensions,
Figure FDA00031377311400000316
adjacent cube face discrimination conditions: i) plane normal vector is vertical: n isp⊥nq(ii) a ii) an edgeThe vectors corresponding to parallel or perpendicular, xp||xq，xp⊥yq，yp⊥xq，yp⊥yqOr yp||xq，yp⊥yq，xp⊥xq，xp⊥yq(ii) a iii) the planes are adjacently positioned and have similar dimensions, such that PpX ofpEdge and PqX ofqAdjacent, then need to satisfy
Figure FDA0003137731140000041
Wherein c is a reference vertex of plane P ═ Π (c, n, x, y), n is a unit normal vector of plane P, and x and y are edge vectors of plane P; subscripts p and q correspond to different planes; if (a, b)<TθThen consider a | | b, if |90 ° - < a, b-<TθConsidering a ^ b, wherein the angle (a, b) is the included angle between a and b; will plane PaTo plane PbProjection gave P'aThen P isaAnd PbHas a cross-over ratio of
Figure FDA0003137731140000042
S (-) is the planar area; dabIs a plane PaCenter point to plane PbVector D of center pointab＝(ca+(xa+ya)/2)-(cb+(xb+yb)/2)；
The determination of the cube plane comprises:
a) input plane collection
Figure FDA0003137731140000043
Set the best cubic plane group
Figure FDA0003137731140000044
Is empty
Figure FDA0003137731140000045
b) Set of traversal planes
Figure FDA0003137731140000046
In all plane pairs { Pp,PqIf { P }p,PqWhen the opposite cube face discrimination condition or the adjacent cube face discrimination condition is satisfied, the
Figure FDA0003137731140000047
Taking the cubic plane as a reference cubic plane group and entering the next step; if not, then,
Figure FDA0003137731140000048
there is no cubic plane present;
c) set of traversal planes
Figure FDA0003137731140000049
All planes P inmIf, if
Figure FDA00031377311400000410
PmAnd
Figure FDA00031377311400000411
all planes in (1) satisfy the opposite plane relation or the adjacent plane relation, and
Figure FDA00031377311400000412
the cube configuration is satisfied: one surface has only one opposite surface and four adjacent surfaces in different directions, P ismIs contained in
Figure FDA00031377311400000413
Namely, it is
Figure FDA00031377311400000414
d) If it is not
Figure FDA00031377311400000415
Zhongzhuanping (Chinese character of 'Zhongzhuanping' for treating rheumatism)Number of faces greater than
Figure FDA00031377311400000416
Number of opposing planes in, or
Figure FDA00031377311400000417
Number of median opposition planes equal to
Figure FDA00031377311400000418
And the number of opposite planes in
Figure FDA00031377311400000419
Total number of midplane is greater than
Figure FDA00031377311400000420
Total number of planes in (1) is
Figure FDA00031377311400000421
Replacement of
Figure FDA00031377311400000422
Figure FDA00031377311400000423
e) If it is not
Figure FDA00031377311400000424
In which at least one set of opposing planes is present, or
Figure FDA00031377311400000425
If the total number of planes is not less than three, the number is considered to be
Figure FDA00031377311400000426
Is an effective cubic plane set, pair
Figure FDA00031377311400000427
To carry outEstimation of the attitude of the cube space and estimation of the cube size, and from
Figure FDA00031377311400000428
In the middle of removing
Figure FDA00031377311400000429
Traversing the steps of a) to d) until
Figure FDA00031377311400000430
No valid cube-plane groups are extracted.
5. The apparatus of claim 4, wherein the estimation module for spatial pose estimation of a cube comprises:
for input cube plane groups
Figure FDA00031377311400000431
Respectively estimating three edge vectors k belonging to { u, v, w };
estimating the direction of the cubic edge vector according to the cubic plane, wherein the formula is as follows:
Figure FDA0003137731140000051
wherein
Figure FDA0003137731140000052
Is a cube plane group, k belongs to { u, v, w } corresponding to the cube edge;
Figure FDA0003137731140000053
and
Figure FDA0003137731140000054
are respectively as
Figure FDA0003137731140000055
A plane perpendicular to k and parallel to k; δ (·, ·) is an exemplary function, δ (a, b) equals 1 if a | | b, otherwise δ (a, b) equals 0; w (-) is a weight function, and for a plane normal vector n, W (n) is defined as the reciprocal of the root mean square of the total distance error from all plane points to the plane; for plane edge vector
Figure FDA00031377311400000522
Figure FDA00031377311400000523
Is defined as a planar point edge
Figure FDA00031377311400000524
Degree of uniformity of directional distribution: point the plane to
Figure FDA00031377311400000525
Projection, arranging the projection points in sequence and equally dividing the projection points into NbinSegment, then
Figure FDA0003137731140000056
Wherein s isiIs the proportion of the proxels falling within the ith segment.
6. The apparatus according to any of claims 4-5, wherein the estimation module is further configured to perform size estimation on the cube, comprising:
for input cube plane groups
Figure FDA0003137731140000057
And the estimated edge vector
Figure FDA0003137731140000058
Estimating cube in each direction
Figure FDA0003137731140000059
Length of dimension (d);
estimating the length of each side of the cube according to the plane of the cube, wherein the calculation formula is as follows:
Figure FDA00031377311400000510
Figure FDA00031377311400000511
wherein
Figure FDA00031377311400000512
Edges of the corresponding cube;
Figure FDA00031377311400000513
is composed of
Figure FDA00031377311400000514
The projection points from the top points of all the planes to k;
Figure FDA00031377311400000515
and
Figure FDA00031377311400000516
are two clusters distributed at two ends of the k direction
Figure FDA00031377311400000517
The projected point of (2) is,
Figure FDA00031377311400000518
for a cluster close to the reference origin o,
Figure FDA00031377311400000519
another cluster away from the reference origin o;
Figure FDA00031377311400000520
is composed of
Figure FDA00031377311400000521
Is comprised of the projection points of the vertices of all planes perpendicular to k.
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