CN108961400B - 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, is carried out using 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 imaged simultaneously
Storage;
2) image preprocessing is carried out to the images of cultural relic fragments, including to the noise and retroreflective regions for influencing characteristics of image into
Row optimization 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
Coloured silk carries out the analysis of image texture characteristic to the cultural relic fragments that analysis is completed, matches to the image texture characteristic after optimization,
Cultural relic fragments are matched convenient for subsequent;
4) cultural relic fragments are screened using identification technology automatically and edge compares, it then can by computer searching
Cultural relic fragments splicing is fabricated to 3D mathematical model by the cultural relic fragments being stitched together;
5) the 3D mathematical model spliced and AR glasses virtual reality technology are subjected to Item increasing, then with HoloLens
Mirror virtual 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, the angle a of two vectors composed by 1≤i≤N-1i, wherein N is the positive integer greater than 1, if aiGreater than threshold values B, then
Intermediate 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 with angle point label
Data point PtiWith adjacent two data point Pti-1、Pti+1The gained angle a of composed two vectorsi, with intermediate data points away from
From hiRatio ai/hi, there is minimum value min(ai/hi) intermediate data points be 1 known angle point, delete adjacent area number
The angle point at strong point marks, and complex texture section is split, and subtract 1 for angle point counter, is continued to new texture section
The 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, AR 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
HoloLens 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, HoloLens glasses virtual reality technology is the bridge transboundary connected between virtual reality and augmented reality, no
It is only capable of providing hologram, 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
It allows computer to look for the fragment that can be stitched together, the efficiency of historical relic reparation can either be improved in this way, greatly save text
The man power and material of object reparation, and 3-D scanning technology is able to achieve non-cpntact measurement, and has the advantages that speed is fast, with high accuracy,
Avoid the 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 HoloLens glasses virtual reality technology reaches the system for the purpose of real-time finely positioning and guidance operation;It is repairing
Disease position in dead angle can be presented by repairing teacher in the process and taking AR glasses, and precisely navigate excision extension, improves the standard of reparation
Exactness 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, only exists
Medical domain 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:
1) 3-D scanning is carried out to cultural relic fragments using three-dimensional coordinate measuring instrument and close shot video camera and closely imaged simultaneously
Storage;
2) image preprocessing is carried out to the images of cultural relic fragments, including to the noise and retroreflective regions for influencing characteristics of image into
Row optimization 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
Coloured silk carries out the analysis of image texture characteristic to the cultural relic fragments that analysis is completed, matches to the image texture characteristic after optimization,
Cultural relic fragments are matched convenient for subsequent;
4) cultural relic fragments are screened using identification technology automatically and edge compares, it then can by computer searching
Cultural relic fragments splicing is fabricated to 3D mathematical model by the cultural relic fragments being stitched together;
5) the 3D mathematical model spliced and AR glasses virtual reality technology are subjected to Item increasing, then with HoloLens
Mirror virtual 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, obtaining the intensive point data of historical relic entirety using grade and submillimeter level three-dimensional laser scanner device, lead to
The comparison of multidate point data is crossed, the deformation and defect shape of cultural relic fragments partial structurtes are obtained;Then, it is surveyed using up short
Amount obtains the striograph of historical relic by way of projection or texture expansion, by the thin of image recognition technology detection texture color
Microvariations.
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 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, the angle a of two vectors composed by 1≤i≤N-1i, wherein N is the positive integer greater than 1, if aiGreater than threshold values B, then
Intermediate 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 with angle point label
Data point PtiWith adjacent two data point Pti-1、Pti+1The gained angle a of composed two vectorsi, with intermediate data points away from
From hiRatio ai/hi, there is minimum value min(ai/hi) intermediate data points be 1 known angle point, delete adjacent area number
The angle point at strong point marks, and complex texture section is split, and subtract 1 for angle point counter, is continued to new texture section
The 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, AR 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 HoloLens 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, HoloLens glasses virtual reality technology is the bridge transboundary connected between virtual reality and augmented reality, no
It is only capable of providing hologram, sound, movement and the ambient enviroment of user can also be tracked;The virtual optometric technology of HoloLens starts from
Depth 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 outer 15
The image of inch 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 (7)
1. a kind of historical relic intelligently assists bootstrap technique, it is characterised in that:
1) the intensive point data that historical relic entirety is obtained using grade and submillimeter level three-dimensional laser scanner device, passes through multidate
Point data comparison, obtains the deformation and defect shape of cultural relic fragments partial structurtes;Then, using close-range photogrammetry, pass through throwing
Shadow or the mode of texture expansion obtain the striograph of historical relic, by the slight change of image recognition technology detection texture color, institute
It states and is used in image recognition technology method particularly includes: be that close shot image is corrected and is pre-processed first, it is broken to obtain historical relic
Then it is then right as the spectral signature at the point to extract the corresponding curve of spectrum of certain pixel in image for the calibration image of piece
Image carries out PCA dimension-reduction treatment, and image is reduced to 3 dimensions, and the extraction of feature is carried out using the feature extractor based on CNN, will be mentioned
Spectral signature and space characteristics are finally carried out fusion linear feature and form spectrum-sky feature by the feature of taking-up as space characteristics
Set, uses SVM to be classified to obtain the result of color continuity between cultural relic fragments as classifier;
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 HoloLens 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 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.
4. a kind of guidance system that bootstrap technique is intelligently assisted using historical relic described in claim 1, including three-dimensional laser scanner,
Video camera, AR system and computer, it is characterised in that: the three-dimensional laser scanner and video camera are used to carry out cultural relic fragments
3-D scanning simultaneously stores;The computer is used to carry out the image of cultural relic fragments the line of image preprocessing and cultural relic fragments surface
The extraction and analysis of reason and color character, and the cultural relic fragments that can be stitched together are found, fragments mosaicing is fabricated to 3D number
Word model;The AR system is used to the 3D mathematical model and AR glasses virtual reality technology that have spliced carrying out Item increasing, then
In conjunction with HoloLens glasses virtual reality technology, reaches real-time finely positioning and guidance operates.
5. guidance system according to claim 4, it is characterised in that: the three-dimensional laser scanner and video camera for pair
The solid and surface information of cultural relic fragments are converted in the extraction of the spatial shape of cultural relic fragments, the texture on surface and color character
The digital signal directly handled for computer capacity.
6. guidance system according to claim 4, it is characterised in that: the 3D mathematical model is by data acquisition, number
According to manipulation, data organization, data analysis and Data Representation obtain Spatial Data Model, it have direct spatial information present and
Powerful various dimensions spatial analysis functions.
7. guidance system according to claim 4, it is characterised in that: the AR system include virtual scene generation unit,
Head tracking apparatus and interactive device;Wherein, the virtual scene generation unit is responsible for the modeling, management, drafting of virtual scene
With the management of other peripheral hardwares;Head tracking apparatus tracking user's sight variation;The external control letter of interactive device acquisition
Number, it realizes the interactive operation to actual situation combination scene, the information after system globe area is displayed in real time in the display;It is described
HoloLens glasses not only provide hologram, can also track sound, movement and the ambient enviroment of user.
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CN109934880A (en) * | 2019-03-18 | 2019-06-25 | 广州欧科信息技术股份有限公司 | Cultural relic images restored method, device and equipment based on artificial intelligence |
CN112632741B (en) * | 2020-10-21 | 2023-04-07 | 湖南省博物馆 | Cultural relic restoration method and device, storage medium and electronic equipment |
CN112288849B (en) * | 2020-10-23 | 2023-07-25 | 北京师范大学 | Virtual restoration method for rotating shaft type broken cultural relics |
CN112917920A (en) * | 2021-02-25 | 2021-06-08 | 北京空间飞行器总体设计部 | Lunar surface terrain physical reconstruction method |
CN113763246A (en) * | 2021-08-25 | 2021-12-07 | 复旦大学 | Museum exhibition screen holographic projection display method |
CN114119567A (en) * | 2021-11-30 | 2022-03-01 | 深圳大学 | Human-computer interaction type intelligent detection method for outer wall diseases of high-rise building |
CN114187178B (en) * | 2021-12-13 | 2024-04-02 | 浙大城市学院 | Porcelain fragment classification and splicing system and method for auxiliary cultural relic restoration |
CN114219923B (en) * | 2021-12-14 | 2022-09-23 | 北京凯泰铭科技文化发展有限公司 | AR, VR and MR fusion method and system applied to vestige reproduction |
CN116450018B (en) * | 2023-06-16 | 2023-08-15 | 西安交通大学城市学院 | Cultural relic repair data processing method oriented to virtual reality application |
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