CN110379011A - A kind of underwater topography dot cloud hole method for repairing and mending based on improvement B-spline Curve - Google Patents
A kind of underwater topography dot cloud hole method for repairing and mending based on improvement B-spline Curve Download PDFInfo
- Publication number
- CN110379011A CN110379011A CN201910575024.2A CN201910575024A CN110379011A CN 110379011 A CN110379011 A CN 110379011A CN 201910575024 A CN201910575024 A CN 201910575024A CN 110379011 A CN110379011 A CN 110379011A
- Authority
- CN
- China
- Prior art keywords
- point
- cloud
- fitting
- underwater topography
- range
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/05—Geographic models
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/30—Polynomial surface description
Abstract
The present invention discloses a kind of based on the underwater topography dot cloud hole method for repairing and mending for improving B-spline Curve.First by underwater topography point cloud uniformly slicing at regular intervals, and it is projected on two-dimensional surface along coordinate system, it is fitted by improved B-spline Curve, make the original data point of curve negotiating after fitting specifically by the complement point mode of three point on a straight line, then for being spaced biggish consecutive points region in original projection point range, improved B-spline Curve is reused to be fitted, solve the problems, such as that point range is sparse, finally the point range after fitting is reverted in three-dimensional space, completes the repairing to dot cloud hole.Compared to traditional B-spline Curve method, the present invention can advantageously take into account the locality characteristic of point cloud slicing and put the uniformity and continuity of cloud entirety, the characteristics of depth measurement at equal intervals of having combined closely samples, reduces original underwater topography fluctuating situation to the maximum extent while Efficient software patching underwater topography dot cloud hole.
Description
Technical field
The invention belongs to underwater information fusions and three-dimensional point cloud process field, in particular to a kind of to be based on improving B sample three times
The underwater topography dot cloud hole method for repairing and mending of curve.
Background technique
With the development of computer technology and global positioning system, the acquiring technology of underwater information obtains marked improvement, is
Large area, high-precision, the underwater data information of all standing is obtained to lay a good foundation.Important set of the sea-floor relief as marine environment
At part, three-dimensional visualization has important value for the exploration of marine environment.
It is completed currently, the exploration of underwater topography mainly passes through multi-beam side scan sonar, but due to the bottom of partial region
Substrate is too small to the reflected intensity of sound wave and topography variation more acutely causes sonar that can not obtain data, while to original
Sonar echo data treatment process in, calculating mistake and Wave beam forming Interpolation compensation Algorithm Error to wave beam time of return
The reason of, it can all lead to the missing of sound ray, therefore there are a large amount of holes in the underwater topography point cloud obtained.Underwater topography point cloud
Hole substantially reduce the precision of three-dimensional visualization, while having seriously affected subsequent data process&analysis.
Underwater topography point cloud has the characteristics that region area is larger, density is lesser, and the distance between consecutive points are larger, uses
Traditional hole repair algorithm effect is bad.And the range of well-known marine surveys is abnormal extensively, cost is larger, it is impossible to
Hole and rejecting abnormalities data are eliminated by way of duplicate measurements or splicing.
The characteristics of being directed to multibeam sonar equal interval sampling depth measurement considers to use B sample three times to after point cloud slicing projection
Curve is fitted, to repair hole.B-spline curves approximating method has many advantages, such as locality, continuity, convex closure,
The locality characteristic of point cloud slicing can be advantageously taken into account in fitting, while determining regional area the characteristics of piecewise fitting
Change will not be impacted to whole.But the shortcomings that this way is that the curve after fitting does not pass through original data point, nothing
Method reacts true landform.In conclusion a kind of dot cloud hole patch algorithm based on improvement B-spline Curve is proposed,
It can either reflect features of terrain, and the point range sparse region caused by hole is repaired and gone back by original data point
It is former.
Summary of the invention
The purpose of the present invention is to provide a kind of based on the underwater topography dot cloud hole repairing for improving B-spline Curve
Method is combined with the characteristics of multibeam sonar equal interval sampling depth measurement, effectively to the underwater topography dot cloud hole of acquisition into
Row repairing is conducive to three-dimensional visualization and subsequent processing and analysis.
In order to achieve the above objectives, solution of the invention is:
A kind of underwater topography dot cloud hole method for repairing and mending based on improvement B-spline Curve, includes the following steps:
Step 1, surveying vessel is navigated by water along fixed-direction, equal interval sampling and depth measurement, obtains underwater topography point cloud data.
It step 2, is that coordinate system is established in reference with underwater topography point cloud data, using the center of cloud as coordinate origin, x-axis
Under horizontal direction, horizontally to the right for y-axis, z-axis is upward perpendicular to xoy planar horizontal, by underwater topography point in the navigation direction of surveying vessel
Cloud uniformly slicing along the y-axis direction, and all point cloud slicings are projected in xoz plane；
Step 3, it is bent that preliminary fitting is obtained by improved B-spline Curve method for each slice projection
Line；
The improved B-spline Curve method specifically: the original point by way of three point on a straight line in the projected
Increase data point in column, so that being fitted original data point of the obtained B-spline Curve after projection.
The increase data point specifically: 4 points of arbitrary continuation are P in the original point range after projectioni、Pi+1、Pi+2With
Pi+3, wherein i=1,2,3 ..., N-3, N are the number at the original point range midpoint after projection.Cross point Pi+1It is straight line Pi Pi+2It is flat
Line l1, cross point Pi+2It is straight line Pi+1Pi+3Parallel lines l2.For Pi+1, in straight line l1Upper newly-increased two o'clock Pi+1,0And Pi+1,1,
In | Pi+1,0Pi+1|=h | PiPi+1| and | Pi+1,1Pi+1|=h | Pi+1Pi+2|；For Pi+2, in straight line l2Upper newly-increased two o'clock Pi+2,0With
Pi+2,1, wherein | Pi+2,0Pi+2|=h | Pi+1Pi+2| and | Pi+2,1Pi+2|=h | Pi+2Pi+3|。
Wherein the value of proportionality coefficient h is preferentially chosen by experiment；Specifically, using consecutive points interval in point range after fitting
Standard deviation and slice the two evaluation indexes of error of fitting, it is described slice error of fitting indicate projection after original point range in
Each point removes the minimum interval of the point except itself into point range after fitting；It makes even to slice error of fitting all in experiment
Mean value, be less than average value slice error of fitting corresponding to h in the range of, choose the range internal standard difference minimum value correspondence
H.
Step 4, the preliminary matched curve that judgment step 3 obtains whether there is sparse region, if so, being then directed to the area
Domain is fitted again by improved B-spline Curve, obtains complete matched curve；
Step 5, complete matched curve is finally reverted into three-dimensional space the repairing completed to hole；Hole is obtained to repair
Underwater topography point cloud after benefit.
Further, in the step 2, surveying vessel is travelled along y-axis, is divided into d between underwater topography point cloud uniformly slicing,
Equal to the mean value of the absolute value of the difference of the y-coordinate value of all consecutive points in cloud.
Further, in the step 5, M parts of point cloud slicings are obtained after slice, in jth part slice (j=1,2 ..., M)
In original point range after projection, the average value of the y-axis coordinate of all the points is dj,mean, complete matched curve that step 4 is obtained
In the coordinate values of y of all the points be set as dj,mean, the projection point range in xoz plane is reverted in three-dimensional space.
Beneficial effects of the present invention: the present invention proposes a kind of improved B-spline Curve approximating method, in conjunction with acquisition water
When deep data, measurement ship measures the particularity of sampling at equal intervals and underwater topography point cloud area coverage is big, low density spy
Point effectively repairs underwater topography dot cloud hole.The problem sparse for the point range occurred after fitting, for these
Region is fitted using improved B-spline Curve again, obtains having good uniformity and successional matched curve.This
The method of invention considers the locality characteristic of point cloud slicing and the uniformity and continuity of entirety, underwater in Efficient software patching
Original hypsography situation is reduced while landform dot cloud hole to the maximum extent.
Detailed description of the invention
Fig. 1 is the schematic diagram that slice projection point range increases data point in the present invention；
Fig. 2 is slice in the present invention at underwater topography point cloud center after the projection point range increment type value point of xoz plane
It is fitted schematic diagram；
Fig. 3 be slice in the present invention at underwater topography point cloud center xoz plane projection point range increment type value point with
And the schematic diagram that sparse point range is fitted again；
Fig. 4 is the schematic diagram of original underwater topography point cloud；
Fig. 5 is the partial enlarged view of underwater topography dot cloud hole；
Fig. 6 is that the slice at underwater topography point cloud center lists intention in the subpoint of xoz plane；
Fig. 7 is that the slice at underwater topography point cloud center uses unmodified cubic B-spline in the projection point range of xoz plane
Schematic diagram after curve matching；
Fig. 8 is unmodified B-spline Curve schematic illustration；
Fig. 9 is the new cloud schematic diagram obtained after the present invention repairs；
Figure 10 is the slice error of fitting data statistics figure at consecutive points interval in point range after the present invention is fitted；
Figure 11 is the standard deviation data statistical chart at consecutive points interval in point range after the present invention is fitted；
Figure 12 is flow chart of the invention.
Specific embodiment
Below with reference to attached drawing, technical solution of the present invention and beneficial effect are described in detail.
The present invention provides a kind of underwater topography dot cloud hole method for repairing and mending based on improvement B-spline Curve, including such as
Lower step:
Step 1, as shown in figure 4, the coordinate system of underwater topography point cloud is using the center of cloud as coordinate origin, x-axis is horizontal
Downwards, horizontally to the right, z-axis is upward perpendicular to xoy planar horizontal for y-axis.Currently, the exploration of underwater topography mainly passes through multi-beam side
Sonar completion is swept, but since reflected intensity of the water-bed substrate of partial region to sound wave is too small and topography variation is more violent
Cause sonar that can not obtain data, while when to original sonar echo data processing, it is wrong to the calculating of wave beam time of return
Accidentally with Wave beam forming Interpolation compensation Algorithm Error the reason of, underwater topography point cloud not only makes three-dimensional can there are a large amount of hole
Precision depending on changing substantially reduces, while having seriously affected subsequent data process&analysis, as shown in Fig. 5 partial enlargement.
During surveying underwater environment, surveying vessel is navigated by water along y-axis, equal interval sampling and depth measurement.In conjunction with the feature,
Consider that y-axis using d is interval to a cloud progress uniformly slicing in the horizontal direction, be projected into xoz plane carry out curve fitting from
And repair hole.
The size d that its equal intervals divides be y-axis in monolith point cloud between all consecutive points apart from absolute value of the difference
Mean value.
M part point cloud after slice is successively projected in xoz plane along the y-axis direction, obtains the two-dimentional point range in plane.
At cloud center, i.e., for y-coordinate value for the slice in [- d, d] range, projection point range is as shown in Figure 6 in point cloud.
Because of the presence of hole, the partial region density for projecting point range is obviously less than normal, and the concentration between consecutive points is poor
It is different larger, therefore consideration is fitted to repair hole with B-spline Curve to projection point range.B-spline curves have office
The features such as portion's property, continuity and convex closure are not in over-fitting, while curve is that piecewise fitting forms, regional area
Change will not influence whole fitting effect, for the repairing of hole, thus be suitable for hypsography it is larger
Underwater topography point cloud.A B-spline Curve, matrix expression can be determined by four data points are as follows:
Wherein u is local variable, and value range is [0,1]；Pj、Pj+1、Pj+2And Pj+3For four adjacent types in point range
It is worth point, j=1,2,3 ..., N-3, wherein N is the number of point range；Bj,3For the B-spline basic function of 3 ranks.Thus the B of 3 ranks can be calculated
Spline base function is respectively as follows:
B1,3(t)=(1-u)3/6
B2,3(t)=(3u3-6u2+4)/6
B3,3(t)=(- 3u3+3u2+3u+1)/6
B4,3(t)=u3/6
As shown in figure 8, during being fitted with B-spline Curve, continuous four in slice projection plane
Adjacent data point Pj、Pj+1、Pj+2、Pj+3It can determine a B-spline Curve.Wherein M1It is straight line PjPj+2Midpoint, M2
It is straight line Pj+1Pj+3Midpoint.The starting point S of curve is located at triangle Δ PjPj+1Pj+2Middle line Pj+1M1Upper and and Pj+1Distance be
1/3|Pj+1M1|, the terminal E of curve also is located at triangle Δ Pj+1Pj+2Pj+3Middle line Pj+2M2Upper and and Pj+2Distance be 1/3 |
Pj+2M2|, the tangent line of B-spline Curve starting point is parallel to straight line PjPj+2, the tangent line of End of Curve is parallel to straight line Pj+1Pj+3。
And so on, piecewise fitting is carried out to whole section of point range.Setting up an office and arranging the number at midpoint is N, is denoted as Pi(i=1,2 ...,
N-3), with P1、P2、P3、P4The 1st article of B-spline Curve is drawn, with P2、P3、P4、P5The 2nd article of B-spline Curve is drawn, with
PN-3、PN-2、PN-1、PNDraw the N-3 articles B-spline Curve.The curve natural sparse model that will be drawn above has obtained whole section of point
The matched curve of column.Point range such as Fig. 7 that the projection point range being sliced at point cloud center obtains after being directly fitted with B-spline Curve
It is shown.
As can be seen that there is a problem of that part consecutive points interval is excessive for the slice projection point range, directly with B three times
Spline curve fitting will lead to curve uniformity and continuity it is poor；And the curve after being fitted is not through original offset
Point can not react true hypsography, it is therefore desirable to improve to algorithm, so that the original type of curve negotiating after fitting
Value point.
As shown in Figure 1, point Pi、Pi+1、Pi+2And Pi+3(i=1,2 ..., N-3) it is to be sliced in xoz plane at a cloud center
Projection point range in four continuous adjacents point, cross point Pi+1It is straight line Pi Pi+2Parallel lines l1, cross point Pi+2It is straight line Pi+1Pi+3
Parallel lines l2。
In parallel lines l1On take two o'clock Pi+1,0And Pi+1,1, so that | Pi+1,0Pi+1|=h | PiPi+1| and | Pi+1,1Pi+1|=h |
Pi+1Pi+2|；In parallel lines l2On take two o'clock Pi+2,0And Pi+2,1, so that | Pi+2,0Pi+2|=h | Pi+1Pi+2| and | Pi+2,1Pi+2|=h |
Pi+2Pi+3|.Because of point Pi+1,0、Pi+1And Pi+1,1Three point on a straight line, according to the production principle of B-spline Curve, by complement point it
Afterwards, curve can pass through Pi+1；Curve, which can similarly be obtained, will also pass through Pi+2.Therefore after have passed through the improvement to B-spline Curve,
The original data point of curve negotiating after can making fitting, the true fluctuating for reflecting landform.
It will point Pi、Pi+1,0、Pi+1、Pi+1,1、Pi+2,0、Pi+2、Pi+2,1And Pi+3Form new point range in sequence, and for
4 points all of adjacent continuous of other in the projection point range carries out complement point operation, then it is used B-spline Curve into
Row fitting.
Wherein the value of proportionality coefficient h is preferentially chosen by experiment.Choose two evaluation indexes: adjacent in point range after fitting
The standard deviation and slice error of fitting that point is spaced, wherein slice error of fitting indicates each point point range to after being fitted in original point range
The middle minimum interval for removing the point except itself, is averaged slice error of fitting all in experiment, is being less than average value
Slice error of fitting corresponding in the range of h, choose the corresponding h of the range internal standard difference minimum value.Such as the institute of Figure 10 and 11
Show, with the reduction of h, puts and constantly increase with the minimum value at point interval, is i.e. slice error of fitting constantly increases.Point range after fitting
Uniformity is preferable, that is, has lesser standard deviation, while removing except itself in point range after the original point range to fitting after projection
The minimum interval of point is also maintained at a lesser range, and the continuity and uniformity of curve can reach most after being fitted in this way
It is good, h=1/3 is selected after tradeoff.
When taking h=1/3, in experiment, the number of the original point range after putting the slice projection at cloud center is 199, is increased
After adding data point, the number of point range is 593, for the original point range after projection by improved B-spline Curve method,
Preliminary matched curve is obtained, the point range number after fitting is 5920, and the mean value at point range consecutive points interval is after fitting
0.1397 meter, standard deviation is 0.06264 meter, and slice error of fitting is 0.3076 meter, is in smaller range.
Because the interval for projecting split-phase adjoint point in the middle part of point range is excessive, clearly there is Density inhomogeneity in the curve after fitting
The problem of, and other do not have the region fit solution of hole fine.First it is envisioned that the part for B-spline Curve becomes
U is measured, its number in [0,1] range is increased, can be eliminated in this way in the Sparse Problems being spaced at biggish consecutive points.But
Excessive point greatly reduces the efficiency of method, and during actual survey, it is desirable to be able to obtaining underwater topography point cloud number
On the basis of, hole is repaired as soon as possible, while true underwater topography is reflected with less point range number as far as possible.
Therefore consider individually to extract the sparse region of point range, reuse improved B-spline Curve method and be fitted, solve dilute
The problem of dredging region.
Assuming that original point is classified as (xi,yi) (i=1,2 ..., N), calculate the average value d at consecutive points interval in point rangemeanWith
Standard deviation dstdIf consecutive points interval is greater than dmean+2*dstd, then recording the two o'clock coordinate is (xa,ya) and (xb,yb).It is preliminary quasi-
Point after conjunction is classified as (Xk,Yk) (k=1,2 ..., K), K is the number of the point range after initial fitting, and original point range is point after fitting
A part of column, so choosing in the point range after initial fitting, abscissa is in [xa,xb] point within interval range, in the region
Point be sparse point range.The region is fitted again using improved B-spline Curve, that is, solves that point range is sparse to ask
Topic, obtains complete matched curve.
The parameter for choosing h=1/3 carries out increasing data point and using changing to all slice projections of underwater topography point cloud
Into B-spline Curve be fitted, calculate the slice error of fitting of all slice projections, and with directly adopt B sample three times
The method of curve matching compares, as shown in Figure 7.All slices of point cloud are using improved B-spline Curve side
After method, minimum and maximum slice error of fitting is respectively 0.3715m and 0.2132m, average value 0.2995m, standard deviation
For 0.05722m.It is fitted in contrast, directlying adopt B-spline Curve to original point range, minimum and maximum slice
Error of fitting is respectively 0.5511m and 0.2467m, average value 0.4088m, standard deviation 0.06736m.It can be seen that using
After improved B-spline Curve is fitted, the effect that the projection point range being not only respectively sliced is fitted is more preferable, after fitting
The original data point of curve negotiating, and averagely slice error of fitting reduces 27.1%.
In the original point range after the projection of jth part slice, wherein j=1,2 ..., M, M are the quantity of slice, all the points
Y-axis coordinate average value be dj,mean, the coordinate value of the y of all the points in complete matched curve is set as dj,mean, by xoz
Projection point range in plane reverts in three-dimensional space, completes the repairing to hole, obtains the underwater topography after hole repair
Point cloud, as shown in Figure 9.The present invention has advantageously taken into account the local feature of point cloud slicing and the uniformity of entirety and continuous
Property, reduce original hypsography situation while landform dot cloud hole to the maximum extent under remedial water.
In conclusion the present invention is directed to hole existing for underwater topography point cloud, when in conjunction with obtaining underwater topography point cloud data
The particularity of equal interval sampling depth measurement devises a kind of based on the hole repair method for improving B-spline Curve.First by water
Lower topographic(al) point cloud uniformly slicing at regular intervals, and projected on two-dimensional surface along coordinate system, then for traditional B-spline curves
The problem of not passing through original data point makes the original offset of curve negotiating after fitting by the complement point mode of three point on a straight line
Point reuses improved B-spline Curve method and carries out for being spaced biggish consecutive points region in original projection point range
Fitting, solves the problems, such as that point range sparse region density is small, discontinuous, the point range after fitting is finally reverted to three-dimensional space
In, complete the repairing of hole.
The above examples only illustrate the technical idea of the present invention, and this does not limit the scope of protection of the present invention, all
According to the technical idea provided by the invention, any changes made on the basis of the technical scheme each falls within the scope of the present invention
Within.
Claims (4)
1. a kind of based on the underwater topography dot cloud hole method for repairing and mending for improving B-spline Curve, which is characterized in that including as follows
Step:
Step 1, surveying vessel is navigated by water along fixed-direction, equal interval sampling and depth measurement, obtains underwater topography point cloud data.
It step 2, is that coordinate system is established in reference with underwater topography point cloud data, using the center of cloud as coordinate origin, x-axis horizontal direction
Under, horizontally to the right for y-axis, z-axis is upward perpendicular to xoy planar horizontal, by underwater topography point cloud along y-axis in the navigation direction of surveying vessel
Direction uniformly slicing, and all point cloud slicings are projected in xoz plane；
Step 3, each point cloud slicing is projected, by improved B-spline Curve method, it is bent obtains preliminary fitting
Line；
The improved B-spline Curve method specifically: in the original point range by way of three point on a straight line in the projected
Increase data point, so that being fitted original data point of the obtained B-spline Curve after projection.
The increase data point specifically: 4 points of arbitrary continuation are P in the original point range after projectioni、Pi+1、Pi+2And Pi+3,
Middle i=1,2,3 ..., N-3, N are the number at the original point range midpoint after projection.Cross point Pi+1It is straight line Pi Pi+2Parallel lines l1,
Cross point Pi+2It is straight line Pi+1 Pi+3Parallel lines l2.For Pi+1, in straight line l1Upper newly-increased two o'clock Pi+1,0And Pi+1,1, wherein | Pi+1,0
Pi+1|=h | PiPi+1| and | Pi+1,1 Pi+1|=h | Pi+1Pi+2|；For Pi+2, in straight line l2Upper newly-increased two o'clock Pi+2,0And Pi+2,1,
In | Pi+2,0Pi+2|=h | Pi+1Pi+2| and | Pi+2,1Pi+2|=h | Pi+2Pi+3|；H is proportionality coefficient, h ∈ [0,1]；
Step 4, the preliminary matched curve that judgment step 3 obtains whether there is sparse region, if so, then again for the region
It is secondary to be fitted by improved B-spline Curve, obtain complete matched curve；
Step 5, complete matched curve is finally reverted into three-dimensional space the repairing completed to hole；Obtain hole repair it
Underwater topography point cloud afterwards.
2. the method as described in claim 1, it is characterised in that: in the step 2, surveying vessel is travelled along y-axis, underwater topography
It is divided into d between point cloud uniformly slicing, equal to the mean value of the absolute value of the difference of the y-coordinate value of all consecutive points in cloud, after slice
Obtain M parts of point cloud slicings.
3. the method as described in claim 1, it is characterised in that: in the step 3, the value of proportionality coefficient h is selected by experiment
It is preferred that taking；Specifically, using the standard deviation and slice the two evaluation indexes of error of fitting at consecutive points interval in point range after fitting,
The slice error of fitting indicates that each point removes the point except itself into point range after fitting in the original point range after projection
Minimum interval；Slice error of fitting all in experiment is averaged, it is right in the slice error of fitting institute for being less than average value
In the range of the h answered, the corresponding h of the range internal standard difference minimum value is chosen.
4. the method as described in claim 1, it is characterised in that: in the step 5, the M part point cloud slicing obtained after slice,
In original point range after the projection of jth part slice, wherein the average value of j=1,2 ..., M, the y-axis coordinate of all the points is
dj,mean, the coordinate value of the y of all the points in complete matched curve that step 4 obtains is set as dj,mean, will be in xoz plane
Projection point range reverts in three-dimensional space.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910575024.2A CN110379011B (en) | 2019-06-28 | 2019-06-28 | Underwater terrain point cloud hole repairing method based on improved cubic B-spline curve |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910575024.2A CN110379011B (en) | 2019-06-28 | 2019-06-28 | Underwater terrain point cloud hole repairing method based on improved cubic B-spline curve |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110379011A true CN110379011A (en) | 2019-10-25 |
| CN110379011B CN110379011B (en) | 2021-03-23 |
Family
ID=68251261
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910575024.2A Active CN110379011B (en) | 2019-06-28 | 2019-06-28 | Underwater terrain point cloud hole repairing method based on improved cubic B-spline curve |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110379011B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110823238A (en) * | 2019-11-05 | 2020-02-21 | 湖南大学 | Improved cubic spline interpolation curve path point fitting method |
| CN111445395A (en) * | 2020-03-03 | 2020-07-24 | 哈尔滨工程大学 | Method for repairing middle area of side-scan sonar waterfall image based on deep learning |
| CN112950452A (en) * | 2019-12-11 | 2021-06-11 | 中国南方电网有限责任公司超高压输电公司广州局 | Processing method and device of jumper point cloud data, storage medium and processor |
| CN113610726A (en) * | 2021-08-05 | 2021-11-05 | 华南农业大学 | Improved cubic B-spline interpolation repairing method for region limitation |
| CN113687629A (en) * | 2020-05-19 | 2021-11-23 | 大族激光科技产业集团股份有限公司 | Circular arc straight line fitting method, system, equipment and storage medium for laser CAM processing |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160078676A1 (en) * | 2014-09-11 | 2016-03-17 | Fu Tai Hua Industry (Shenzhen) Co., Ltd. | Electronic device and point cloud fixing method |
| CN105761312A (en) * | 2016-02-06 | 2016-07-13 | 中国农业大学 | Micro-terrain surface reconstruction method |
| CN107016658A (en) * | 2017-04-21 | 2017-08-04 | 中北大学 | Based on the bronze ware dot cloud hole method for repairing and mending for recalling two-way wave-front method |
| CN107464223A (en) * | 2017-07-19 | 2017-12-12 | 西安理工大学 | A kind of dot cloud hole method for repairing and mending based on section |
-
2019
- 2019-06-28 CN CN201910575024.2A patent/CN110379011B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160078676A1 (en) * | 2014-09-11 | 2016-03-17 | Fu Tai Hua Industry (Shenzhen) Co., Ltd. | Electronic device and point cloud fixing method |
| CN105761312A (en) * | 2016-02-06 | 2016-07-13 | 中国农业大学 | Micro-terrain surface reconstruction method |
| CN107016658A (en) * | 2017-04-21 | 2017-08-04 | 中北大学 | Based on the bronze ware dot cloud hole method for repairing and mending for recalling two-way wave-front method |
| CN107464223A (en) * | 2017-07-19 | 2017-12-12 | 西安理工大学 | A kind of dot cloud hole method for repairing and mending based on section |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110823238A (en) * | 2019-11-05 | 2020-02-21 | 湖南大学 | Improved cubic spline interpolation curve path point fitting method |
| CN112950452A (en) * | 2019-12-11 | 2021-06-11 | 中国南方电网有限责任公司超高压输电公司广州局 | Processing method and device of jumper point cloud data, storage medium and processor |
| CN111445395A (en) * | 2020-03-03 | 2020-07-24 | 哈尔滨工程大学 | Method for repairing middle area of side-scan sonar waterfall image based on deep learning |
| CN111445395B (en) * | 2020-03-03 | 2023-03-21 | 哈尔滨工程大学 | Method for repairing middle area of side-scan sonar waterfall image based on deep learning |
| CN113687629A (en) * | 2020-05-19 | 2021-11-23 | 大族激光科技产业集团股份有限公司 | Circular arc straight line fitting method, system, equipment and storage medium for laser CAM processing |
| CN113687629B (en) * | 2020-05-19 | 2022-09-20 | 大族激光科技产业集团股份有限公司 | Circular arc straight line fitting method, system, equipment and storage medium for laser CAM processing |
| CN113610726A (en) * | 2021-08-05 | 2021-11-05 | 华南农业大学 | Improved cubic B-spline interpolation repairing method for region limitation |
| CN113610726B (en) * | 2021-08-05 | 2022-04-26 | 华南农业大学 | Improved cubic B-spline interpolation repairing method for region limitation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110379011B (en) | 2021-03-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110379011A (en) | A kind of underwater topography dot cloud hole method for repairing and mending based on improvement B-spline Curve | |
| US20150243074A1 (en) | Submarine topography construction method based on multi-source water depth data integration | |
| CN108986048A (en) | Based on the quick compound filter processing method of line laser structured light three-dimensional point cloud | |
| CN103292792B (en) | Actual measurement SVP reconstruction method suitable for submarine detection and pseudo-landform processing | |
| CN105066912B (en) | The step-length scaling method of rock beam surface scan data in acid etch physical simulation experiment | |
| CN110390687A (en) | A kind of dry river measurement method based on 3 D laser scanning | |
| Scheirer et al. | Abundant seamounts of the Rano Rahi seamount field near the southern East Pacific Rise, 15 S to 19 S | |
| CN108871241B (en) | A kind of method that degree of roughness changes after the coarse crack acid etch of quantitative assessment | |
| CN109084708B (en) | Method for calculating integral roughness of two-dimensional contour surface of particle | |
| CN104897676A (en) | Road surface texture characterization method | |
| CN110060342A (en) | A kind of three-dimension curved surface approximating method | |
| CN115640670A (en) | Terrain self-adaptive water depth model partition weighting fusion method | |
| CN112904316B (en) | Airborne laser sounding data refraction error correction method for sea surface fluctuation | |
| CN107554719B (en) | A kind of ship load measurement method based on Sonar system | |
| CN116188734A (en) | AR-based house graphic mapping method | |
| CN113313651B (en) | Method for repairing texture distortion area of side-scan sonar image based on surrounding variation | |
| CN112147619B (en) | Iterative determination method for distance between piles based on sonar point cloud data | |
| CN104570062A (en) | Design method of VSP observation system taking excitation as center | |
| El-Sersawy | Sediment deposition mapping in Aswan High Dam reservoir using geographic information system (GIS) | |
| CN111738277B (en) | Underwater shallow stratum profile image feature extraction method and system | |
| CN117574627A (en) | Construction method of measuring line length calculation model of multi-beam sounding system | |
| CN113777654B (en) | Sea water speed modeling method based on first arrival wave travel time chromatography by accompanying state method | |
| CN113837326B (en) | Airborne laser sounding data registration method based on characteristic curve | |
| CN111177886B (en) | Marine ranging planning and soil thickness prediction method based on geophysical prospecting data analysis | |
| CN110174705B (en) | Underwater terrain detection method and system for high-density suspended geological landform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |