CN108961400A - A kind of historical relic is intelligent to assist bootstrap technique and guidance system - Google Patents
A kind of historical relic is intelligent to assist bootstrap technique and guidance system Download PDFInfo
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Abstract
The invention discloses a kind of historical relic intelligence redundant pilot systems.The object of the present invention is to provide a kind of historical relic intelligence redundant pilot systems, including 3-D scanning technology, 3 d modeling software and cultural relic digitalization intelligence recovery technique, it is characterised in that: the 3-D scanning technology is that fragment is carried out 3-D scanning storage；The 3 d modeling software refers to the software that the fragment that can be stitched together is looked for by computer, and fragments mosaicing is fabricated to 3D mathematical model；The cultural relic digitalization intelligence recovery technique is that the 3D mathematical model that will splice and AR glasses virtual reality technology carry out Item increasing, then in conjunction with Holoens glasses virtual reality technology, reach real-time finely positioning and guidance operates.The present invention can either improve the efficiency of historical relic reparation, greatly save the man power and material of historical relic reparation, while also can be avoided the damage in historical relic repair process to historical relic.
Description
Technical field
The present invention relates to a kind of historical relic guidance system more particularly to a kind of historical relics intelligently to assist bootstrap technique and guidance system
System.
Background technique
China is that a time-honored ancient civilized country produces many kinds of, product in the very long historical progress in China
Kind and its historical relic abundant, still, these historical and cultural heritages of the remote past all undergo difference as time goes by
The destruction and damage of degree, sometimes unearthed historical relic is all fragmentation status, and pottery and porcelain are mostly in this way, these fragments
It equally include a large amount of important archaeological information with historical relic；Conventional method mainly includes selecting and repairing to the reparation of a historical relic at present
Whole relic, punching, piling, overmolded, mounting cloth, scrapes ash and japanning etc. at splicing；Historical relic repair person is to the identification of cultural relic fragments
By the shape and texture of fragment, the age information of the fragment and the class of historical relic are identified by experience either online enquiries
Type, so that it is determined that recovery scenario, then by selecting fragment by hand and being spliced；Since most of historical relic is that rotational symmetry is tied
Structure, and the historical relic structure of various years is generally different from, and finding the fragment that can be stitched together needs a large amount of people
Power and material resources can also damage historical relic in historical relic repair process, it would therefore be highly desirable to invent a kind of intelligence searching splicing fragment
System.
Summary of the invention
The purpose of the present invention is overcome the deficiencies of the prior art and provide a kind of historical relic intelligently auxiliary bootstrap technique and guidance system
System, the system use 3-D scanning technology and 3 d modeling software, so that it may fragment be carried out 3-D scanning, then allow computer
The fragment that can be stitched together is looked for, the efficiency of historical relic reparation can either be improved in this way, greatly saves historical relic reparation
Man power and material, while also can be avoided the damage in historical relic repair process to historical relic.
To achieve the above object, the technical solution of the invention is as follows:
A kind of historical relic intelligence auxiliary bootstrap technique, comprising the following steps:
1) 3-D scanning is carried out to cultural relic fragments using three-dimensional coordinate measuring instrument and close shot video camera and closely images and store；
2) image preprocessing is carried out to the image of cultural relic fragments, it is excellent including being carried out to the noise and retroreflective regions that influence characteristics of image
Change processing, enhances the surface smoothness and edge sharpening of image by digitized processing；
3) texture and color character on cultural relic fragments surface are analyzed, using the color of focusing solutions analysis cultural relic fragments,
The analysis that the cultural relic fragments that analysis is completed are carried out with image texture characteristic, matches the image texture characteristic after optimization, just
Cultural relic fragments are matched in subsequent；
4) cultural relic fragments are screened using identification technology automatically and edge compares, then can be spliced by computer searching
Cultural relic fragments splicing is fabricated to 3D mathematical model by cultural relic fragments together；
5) the 3D mathematical model spliced and AR glasses virtual reality technology are subjected to Item increasing, then empty with Holoens glasses
Quasi- reality technology combines, and reaches real-time finely positioning and guidance operates.
As a further improvement of the present invention, cultural relic fragments are screened using identification technology automatically and edge compare,
It include: the continuity for using identification technology to judge the surface texture and color character between different cultural relic fragments, and to not identical text
Edge between object fragment carries out registration matching primitives.
As a further improvement of the present invention, when using three-dimensional laser scanner scanning cultural relic fragments, comprehensive utilization is not
The three-dimensional laser scanning system of same type carries out whole control with millimetre-sized spatial digitizer, is swept with the three-dimensional of submillimeter level
It retouches instrument and carries out local data's acquisition, then in conjunction with close-range photogrammetry, realize that the whole of cultural relic fragments surface information is left and taken.
As a further improvement of the present invention, firstly, being obtained using grade and submillimeter level three-dimensional laser scanner device
The intensive point data of historical relic entirety, is compared by multidate point data, obtains the deformation and defect shape of cultural relic fragments partial structurtes
Shape；Then, using close-range photogrammetry, the striograph of historical relic is obtained by way of projection or texture expansion, is known by image
The slight change of other technology detection texture color.
As a further improvement of the present invention, it is used in image recognition technology method particularly includes: be to close shot figure first
As being corrected and pre-processing, the calibration image of cultural relic fragments is obtained, it is bent then to extract the corresponding spectrum of certain pixel in image
Then line carries out PCA dimension-reduction treatment to image, image is reduced to 3 dimensions, using based on CNN's as the spectral signature at the point
Feature extractor carries out the extraction of feature, using the feature extracted as space characteristics, finally by spectral signature and space characteristics
It carries out fusion linear feature and forms spectrum-sky characteristic set, SVM is used to be classified the secondary color for obtaining cultural relic fragments as classifier
Color successional result.
As a further improvement of the present invention, the image preprocessing in step 2 mainly include a cloud, noise reduction except it is superfluous,
Data segmentation, filtering, spots cloud optimization processing.
As a further improvement of the present invention, the continuity judgment method of the surface texture between cultural relic fragments specifically uses
Following method: firstly, statistics angle point quantity: one arc length threshold values A of design is as the standard compared, by flat between data point
The weighting of equal arc length obtains A value；When the neighbor distance of continuous multiple points is continuously less than or equal to A, then being considered as the region, there are 1
A angle point, and the data point in angle steel joint region is marked；
Then, reject the redundant points in Texture Points cloud: one angle threshold values B of design calculates adjacent 3 points Pti-1、Pt、Pti+1, 1
The angle a of two vectors composed by≤i≤N-1i, wherein N is the positive integer greater than 1, if aiIt, then will be intermediate greater than threshold values B
Data point Pt is deleted, until all offset points carry out differentiation completion；
Finally, connection whole story endpoint Pt0PtN-1, each point is calculated to line distance hi, and calculate the number with angle point label
Strong point PtiWith adjacent two data point Pti-1、Pti+1The gained angle a of composed two vectorsi, with intermediate data points distance
hiRatio ai/hi, there is minimum value min(ai/hi) intermediate data points be 1 known angle point, delete adjacent area data
The angle point label of point, complex texture section is split, and subtract 1 for angle point counter, continues this to new texture section
Step often judges that an angle point, counter subtract 1, differentiates until counter is kept to 0 stopping.
Meanwhile a kind of historical relic intelligence redundant pilot system has also been devised in the present invention comprising three-dimensional laser scanner, photography
Machine, VR system and computer, it is characterised in that: the three-dimensional laser scanner and video camera are used to carry out three-dimensional to cultural relic fragments
It scans and stores；The computer be used to carry out the images of cultural relic fragments image preprocessing and cultural relic fragments surface texture and
The extraction and analysis of color character, and the cultural relic fragments that can be stitched together are found, fragments mosaicing is fabricated to 3D number mould
Type；3D mathematical model and AR glasses virtual reality technology the progress Item increasing that the AR system is used to have spliced, then with
Holoens glasses virtual reality technology combines, and reaches real-time finely positioning and guidance operates.
As a further improvement of the present invention, three-dimensional laser scanner and video camera are used for outside to the space of cultural relic fragments
The solid and surface information of cultural relic fragments are converted to computer capacity and directly located by the extraction of shape, the texture on surface and color character
The digital signal of reason.
As a further improvement of the present invention, 3D mathematical model is by data acquisition, data manipulation, data organization, number
Spatial Data Model is obtained according to analysis and Data Representation, there is direct spatial information to present and powerful various dimensions space point for it
Analyse function.
As a further improvement of the present invention, the AR system include virtual scene generation unit, head tracking apparatus and
Interactive device；Wherein, the virtual scene generation unit is responsible for the pipe of the modeling of virtual scene, management, drafting and other peripheral hardwares
Reason；Head tracking apparatus tracking user's sight variation；The interactive device acquires external control signal, realizes to actual situation knot
The interactive operation for closing scene, the information after system globe area is displayed in real time in the display.
Wherein, AR glasses virtual reality technology is a kind of position for calculating camera image in real time and angle and plus phase
The technology of image is answered, the target of this technology is that virtual world is covered in real world and interacted on the screen.
Wherein, Holoens glasses virtual reality technology is the bridge transboundary connected between virtual reality and augmented reality, not only
Hologram can be provided, sound, movement and the ambient enviroment of user can also be tracked.
Wherein, 3 d modeling software is CAD software or 3DMAX software or PRO/E software or Solidworks software.
The beneficial effects of the present invention are:
1, the present invention uses 3-D scanning technology and 3 d modeling software, so that it may fragment be carried out 3-D scanning, then allow meter
Calculation machine looks for the fragment that can be stitched together, and can either improve the efficiency of historical relic reparation in this way, greatly saves historical relic and repairs
Multiple man power and material, and 3-D scanning technology is able to achieve non-cpntact measurement, and has the advantages that speed is fast, with high accuracy, avoids
Damage in historical relic repair process to historical relic.
2, present invention reference AR/MR virtual reality system, the system are the complete sets carried out in historical relic reparation application
Auxiliary reparation, damage assessment digital display circuit, also can be used as a set of virtual reality educational system；It is developed by virtual reality technology
Augmented reality (Augmented Reality, AR) technology be by virtual information superposition into real world, felt by the mankind
Official is perceived, to reach the sensory experience of exceeding reality, is different from virtual reality technology, not using augmented reality user
It can be only seen the virtual information generated by computer, additionally it is possible to see the real information in the existing world, telepresenc and the sense of reality
It is all stronger.
3, the present invention by existing 3D mathematical model combination AR glasses virtual reality system progress Item increasing, by with
The combination of Holoens glasses virtual reality technology reaches the system for the purpose of real-time finely positioning and guidance operation；It was repairing
Disease position in dead angle can be presented by repairing teacher in journey and taking AR glasses, and precisely navigate excision extension, improves the accurate of reparation
Degree and efficiency；It temporarily has no application of the three-dimensional digital combination HoloLens in historical relic reparation both at home and abroad at present, is only curing
Field has breakthrough and applies.
4, the present invention passes through firstly, obtaining the close of historical relic entirety using grade and submillimeter level three-dimensional laser scanner device
Collect point cloud data, is compared by multidate point cloud data, obtain the deformation and defect shape of cultural relic fragments partial structurtes；Then,
Using close-range photogrammetry, the orthophotoquad of historical relic is obtained by way of projection or texture expansion, by image recognition skill
Art detects the slight change of texture color, these greatly facilitate the matching between subsequent each cultural relic fragments, improve meter
Calculation machine is to the matched accuracy of cultural relic fragments.
Detailed description of the invention
Fig. 1 is workflow schematic diagram of the invention.
Specific embodiment
The present invention and its specific embodiment are described in further detail with reference to the accompanying drawing.
Referring to Fig. 1, the present invention includes a kind of historical relic intelligence auxiliary bootstrap technique, comprising the following steps:
1) 3-D scanning is carried out to cultural relic fragments using three-dimensional coordinate measuring instrument and close shot video camera and closely images and store；
2) image preprocessing is carried out to the image of cultural relic fragments, it is excellent including being carried out to the noise and retroreflective regions that influence characteristics of image
Change processing, enhances the surface smoothness and edge sharpening of image by digitized processing；
3) texture and color character on cultural relic fragments surface are analyzed, using the color of focusing solutions analysis cultural relic fragments,
The analysis that the cultural relic fragments that analysis is completed are carried out with image texture characteristic, matches the image texture characteristic after optimization, just
Cultural relic fragments are matched in subsequent；
4) cultural relic fragments are screened using identification technology automatically and edge compares, then can be spliced by computer searching
Cultural relic fragments splicing is fabricated to 3D mathematical model by cultural relic fragments together；
5) the 3D mathematical model spliced and AR glasses virtual reality technology are subjected to Item increasing, then empty with Holoens glasses
Quasi- reality technology combines, and reaches real-time finely positioning and guidance operates.
The present invention screens cultural relic fragments using identification technology automatically and edge compares, and specifically uses identification technology
Judge the continuity of the surface texture and color character between different cultural relic fragments, and to the edge between different cultural relic fragments into
Row registration matching primitives.
When the present invention is using three-dimensional laser scanner scanning cultural relic fragments, different types of 3 D laser scanning is comprehensively utilized
System carries out whole control with millimetre-sized spatial digitizer, carries out local data's acquisition with the spatial digitizer of submillimeter level,
Then in conjunction with close-range photogrammetry, realize that the whole of cultural relic fragments surface information is left and taken；It is specific as follows:
Firstly, the intensive point data of historical relic entirety is obtained using grade and submillimeter level three-dimensional laser scanner device, by more
The comparison of phase point data, obtains the deformation and defect shape of cultural relic fragments partial structurtes；Then, using close-range photogrammetry, lead to
The mode for crossing projection or texture expansion obtains the striograph of historical relic, by the subtle change of image recognition technology detection texture color
Change.
It is used in image recognition technology in the present invention method particularly includes: be to be corrected to close shot image and locate in advance first
Reason, obtain the calibration image of cultural relic fragments, then extract image in the corresponding curve of spectrum of certain pixel as the light at the point
Then spectrum signature carries out PCA dimension-reduction treatment to image, image is reduced to 3 dimensions, carried out using the feature extractor based on CNN special
Spectral signature and space characteristics are finally carried out fusion linear feature using the feature extracted as space characteristics by the extraction of sign
Spectrum-sky characteristic set is formed, SVM is used to be classified to obtain the result of color continuity between cultural relic fragments as classifier.
Image preprocessing in step 2 of the present invention mainly includes a cloud, noise reduction except superfluous, data segmentation, filtering, point
Cloud optimization processing.
The continuity judgment method of surface texture in the present invention between cultural relic fragments is specifically with the following method:
Firstly, statistics angle point quantity: one arc length threshold values A is as the standard compared for design, passes through the mean arc between data point
Long weighting obtains A value；When the neighbor distance of continuous multiple points is continuously less than or equal to A, then being considered as the region, there are 1 angles
Point, and the data point in angle steel joint region is marked；
Then, reject the redundant points in Texture Points cloud: one angle threshold values B of design calculates adjacent 3 points Pti-1、Pt、Pti+1, 1
The angle a of two vectors composed by≤i≤N-1i, wherein N is the positive integer greater than 1, if aiIt, then will be intermediate greater than threshold values B
Data point Pt is deleted, until all offset points carry out differentiation completion；
Finally, connection whole story endpoint Pt0PtN-1, each point is calculated to line distance hi, and calculate the number with angle point label
Strong point PtiWith adjacent two data point Pti-1、Pti+1The gained angle a of composed two vectorsi, with intermediate data points distance
hiRatio ai/hi, there is minimum value min(ai/hi) intermediate data points be 1 known angle point, delete adjacent area data
The angle point label of point, complex texture section is split, and subtract 1 for angle point counter, continues this to new texture section
Step often judges that an angle point, counter subtract 1, differentiates until counter is kept to 0 stopping.
Meanwhile a kind of historical relic intelligence redundant pilot system has also been devised in the present invention comprising three-dimensional laser scanner, photography
Machine, VR system and computer, the three-dimensional laser scanner and video camera are used to carry out 3-D scanning to cultural relic fragments and store；
The computer is used to carrying out the images of cultural relic fragments the texture and color character of image preprocessing and cultural relic fragments surface
It extracts and analyzes, and find the cultural relic fragments that can be stitched together, fragments mosaicing is fabricated to 3D mathematical model；The AR system
The 3D mathematical model and AR glasses virtual reality technology progress Item increasing united for will splice, then it is empty with Holoens glasses
Quasi- reality technology combines, and reaches real-time finely positioning and guidance operates.
Three-dimensional laser scanner and video camera are used for the spatial shape of cultural relic fragments, the texture on surface and color character
It extracts, the solid and surface information of cultural relic fragments is converted into the digital signal that computer capacity is directly handled.
3D mathematical model is to obtain space by data acquisition, data manipulation, data organization, data analysis and Data Representation
Data model, there is direct spatial information to present and powerful various dimensions spatial analysis functions for it.
AR system includes virtual scene generation unit, head tracking apparatus and interactive device；Wherein, the virtual scene is raw
It is responsible for the management of the modeling of virtual scene, management, drafting and other peripheral hardwares at unit；Head tracking apparatus tracking user's view
Line variation；The interactive device acquires external control signal, the interactive operation to actual situation combination scene is realized, after system globe area
Information display in real time in the display.
Wherein, AR glasses virtual reality technology is a kind of position for calculating camera image in real time and angle and plus phase
The technology of image is answered, the target of this technology is that virtual world is covered in real world and interacted on the screen.
Wherein, Holoens glasses virtual reality technology is the bridge transboundary connected between virtual reality and augmented reality, not only
Hologram can be provided, sound, movement and the ambient enviroment of user can also be tracked；The virtual optometric technology of HoloLens starts from depth
Spend camera；By multiple cameras for being separately positioned on a front surface and a side surface, it is capable of providing one and is equivalent to 2 feet of outer 15 English
The image of very little screen size.
3-D scanning technology is for being scanned to object space shape and structure and color, to obtain body surface
Steric information in kind is converted to the digital signal that computer capacity is directly handled by space coordinate.
3 d modeling software is CAD software or 3DMAX software or PRO/E software or Solidworks software；But every money three
Tie up modeling software application industry different from, if CAD be building machinery drawing, 3dmax be mainly used for three-dimensional animation rendering and
Production, PRO/E are mainly used for three-dimensional modeling etc., and Solidworks is then that earliest three-dimensional software is widely used in each design row
Industry.
Claims (10)
1. a kind of historical relic intelligently assists bootstrap technique, which comprises the following steps:
1) 3-D scanning is carried out to cultural relic fragments using three-dimensional coordinate measuring instrument and close shot video camera and closely images and store；
2) image preprocessing is carried out to the image of cultural relic fragments, it is excellent including being carried out to the noise and retroreflective regions that influence characteristics of image
Change processing, enhances the surface smoothness and edge sharpening of image by digitized processing；
3) texture and color character on cultural relic fragments surface are analyzed, using the color of focusing solutions analysis cultural relic fragments,
The analysis that the cultural relic fragments that analysis is completed are carried out with image texture characteristic, matches the image texture characteristic after optimization, just
Cultural relic fragments are matched in subsequent；
4) cultural relic fragments are screened using identification technology automatically and edge compares, then can be spliced by computer searching
Cultural relic fragments splicing is fabricated to 3D mathematical model by cultural relic fragments together；
5) the 3D mathematical model spliced and AR glasses virtual reality technology are subjected to Item increasing, then empty with Holoens glasses
Quasi- reality technology combines, and reaches real-time finely positioning and guidance operates.
2. a kind of historical relic according to claim 1 intelligently assists bootstrap technique, it is characterised in that: described to use identification technology
Cultural relic fragments are screened automatically and edge compares, comprising: the surface between different cultural relic fragments is judged using identification technology
The continuity of texture and color character, and registration matching primitives are carried out to the edge between different cultural relic fragments.
3. a kind of intelligent auxiliary bootstrap technique of historical relic according to claim 1, it is characterised in that: the step 1) includes:
When using three-dimensional laser scanner scanning cultural relic fragments, different types of three-dimensional laser scanning system is comprehensively utilized, with millimeter
The spatial digitizer of grade carries out whole control, local data's acquisition is carried out with the spatial digitizer of submillimeter level, then in conjunction with close
Scape is photogrammetric, realizes that the whole of cultural relic fragments surface information is left and taken.
4. a kind of historical relic according to claim 3 intelligently assists bootstrap technique, it is characterised in that: firstly, utilizing grade
The intensive point data that historical relic entirety is obtained with submillimeter level three-dimensional laser scanner device, is compared by multidate point data, is obtained
The deformation and defect shape of cultural relic fragments partial structurtes；Then, using close-range photogrammetry, pass through the side of projection or texture expansion
Formula obtains the striograph of historical relic, by the slight change of image recognition technology detection texture color.
5. a kind of historical relic according to claim 4 intelligently assists bootstrap technique, it is characterised in that: described image identification technology
Middle use method particularly includes: be that close shot image is corrected and is pre-processed first, obtain the calibration image of cultural relic fragments, so
The corresponding curve of spectrum of certain pixel in image is extracted afterwards, and PCA dimensionality reduction then is carried out to image as the spectral signature at the point
Processing, is reduced to 3 dimensions for image, and the extraction of feature is carried out using the feature extractor based on CNN, using the feature extracted as sky
Between feature, spectral signature and space characteristics are finally subjected to fusion linear feature and form spectrum-sky characteristic set, use SVM as
Classifier is classified to obtain the result of color continuity between cultural relic fragments.
6. a kind of historical relic according to claim 2 intelligently assists bootstrap technique, it is characterised in that: the figure in the step 2
As pretreatment mainly includes point cloud, noise reduction except superfluous, data segmentation, filtering, spots cloud optimization processing.
7. a kind of historical relic intelligence redundant pilot system, including three-dimensional laser scanner, video camera, VR system and computer, special
Sign is: the three-dimensional laser scanner and video camera are used to carry out 3-D scanning to cultural relic fragments and store；The computer
The extraction and analysis of the texture and color character on image preprocessing and cultural relic fragments surface are carried out for the image to cultural relic fragments,
And the cultural relic fragments that can be stitched together are found, fragments mosaicing is fabricated to 3D mathematical model；The AR system is used for will
The 3D mathematical model and AR glasses virtual reality technology of splicing carry out Item increasing, then with Holoens glasses virtual reality technology
In conjunction with, reach real-time finely positioning and guidance operate.
8. a kind of historical relic intelligence redundant pilot system according to claim 7, it is characterised in that: the three-dimensional laser scanner
With video camera for the extraction to the spatial shape of cultural relic fragments, the texture on surface and color character, by the solid of cultural relic fragments
The digital signal that computer capacity is directly handled is converted to surface information.
9. a kind of historical relic intelligence redundant pilot system according to claim 7, it is characterised in that: the 3D mathematical model is logical
It crosses data acquisition, data manipulation, data organization, data analysis and Data Representation and obtains Spatial Data Model, it has direct
Spatial information presents and powerful various dimensions spatial analysis functions.
10. a kind of historical relic intelligence redundant pilot system according to claim 7, it is characterised in that: the AR system includes void
Quasi- scene generation unit, head tracking apparatus and interactive device；Wherein, the virtual scene generation unit is responsible for virtual scene
Modeling manages, the management of drafting and other peripheral hardwares；Head tracking apparatus tracking user's sight variation；The interactive device
External control signal is acquired, the interactive operation to actual situation combination scene is realized, the information after system globe area is displayed in real time
In display；The Holoens glasses not only provide hologram, can also track sound, movement and the ambient enviroment of user.
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