WO2018209791A1 - Method and system for reconstructing shape of 3d object - Google Patents
Method and system for reconstructing shape of 3d object Download PDFInfo
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- WO2018209791A1 WO2018209791A1 PCT/CN2017/093512 CN2017093512W WO2018209791A1 WO 2018209791 A1 WO2018209791 A1 WO 2018209791A1 CN 2017093512 W CN2017093512 W CN 2017093512W WO 2018209791 A1 WO2018209791 A1 WO 2018209791A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B13/00—Measuring arrangements characterised by the use of fluids
- G01B13/16—Measuring arrangements characterised by the use of fluids for measuring contours or curvatures
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- 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
- G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
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- the invention belongs to the field of 3D object shape reconstruction, and in particular relates to a 3D object shape reconstruction method and system.
- the present invention provides a method for reconstructing a shape of a 3D object, which adopts a liquid as a technical means of a sensor, and is more suitable for a 3D object having an occluded portion and a glass material than a conventional optical scanner. Good scanning results.
- the method for reconstructing a 3D object shape of the present invention includes:
- Step a immersing the 3D object from the plurality of angles into the liquid, and simultaneously tracking the change of the liquid level, and constructing a plurality of non-uniform intersecting object slices;
- Step b performing resampling measurement on the non-uniform cross object slice to obtain a unified slice and corresponding water level information
- Step c smoothing the water level information corresponding to the unified slice by using a Gaussian kernel
- Step d construct a sparse linear equation system according to the smoothed water level information to approximate the immersion process of the 3D object in the liquid during the immersion process;
- Step e solving the above-mentioned sparse linear equations to reconstruct voxels of the 3D object
- Step f converting the reconstructed 3D object voxel into a mesh
- Step g Smooth the mesh and finally reconstruct the 3D object.
- the 3D object is immersed into the liquid from a plurality of angles using a jig.
- the invention controls the uniform descending of the 3D object by the clamp, measures the weight change multiple times during the descending process, and finally obtains the volume of the plurality of volume slices during the descending process.
- the method further comprises: performing an experimental test on the fixture to obtain water level information corresponding to the unified slice of the smoothed fixture, and finally obtaining smoothed water level information of only the 3D object.
- step e the LSMR is used to find a sparse linear equation system.
- the present invention uses LSMR based on the Golub-Kahan double diagonalization process. LSMR iteratively Find a solution to the sparse problem while taking advantage of the sparsity of matrix B.
- step f the reconstructed 3D object voxels are converted into a mesh using a method of isosurface construction.
- the Marching Cubes algorithm is used to process the 3D object voxels one by one, and the cube intersecting the isosurface is classified, and the interpolation is used. The intersection of the isosurface and the cube edge is finally obtained.
- the invention also provides a 3D object shape reconstruction system.
- a 3D object shape reconstruction system of the present invention includes:
- a non-uniform cross-object slicing building module is used for simultaneously recording a liquid level change in a process of immersing a 3D object from a plurality of angles into a liquid, and constructing a plurality of non-uniform cross-object slices;
- the unified slice and its corresponding water level information acquisition module are configured to resample the non-uniform cross object slice to obtain a unified slice and corresponding water level information;
- a water level information smoothing module configured to smooth water level information corresponding to the unified slice by using a Gaussian kernel
- An immersion process approximation module for constructing a sparse linear equation system based on the smoothed water level information to approximate an immersion process of the 3D object in the liquid during the immersion process;
- a mesh transformation module for converting a reconstructed 3D object voxel into a mesh
- a 3D object reconstruction module for smoothing the mesh and finally reconstructing the 3D object.
- the 3D object is immersed into the liquid from a plurality of angles by using a jig.
- system further comprises a fixture water level information eliminating module, which is used for experimental testing of the fixture, and obtains the water level information corresponding to the unified slice of the smoothed fixture, and finally obtains the smoothed water level information of only the 3D object.
- a fixture water level information eliminating module which is used for experimental testing of the fixture, and obtains the water level information corresponding to the unified slice of the smoothed fixture, and finally obtains the smoothed water level information of only the 3D object.
- the present invention adopts a liquid as a technical means of a sensor, and obtains a better scanning effect than a conventional optical scanner for a three-dimensional object having an occluded portion and a glass material.
- the present invention controls the uniform drop of the 3D object by the jig, measures the weight change multiple times during the descent, and finally obtains the volume of the plurality of volume slices during the descent.
- FIG. 1 is a flow chart of a method for reconstructing a shape of a 3D object of the present invention
- FIG. 2 is a schematic structural view of a 3D object shape reconstruction system of the present invention
- Figure 3 (a) is a reconstruction effect diagram of the shape of the 3D object of the present invention with a sampling number of 100 dips;
- Figure 3 (b) is a reconstruction effect diagram of the shape of the 3D object of the present invention with a sampling number of 325 dips;
- Figure 3 (c) is a reconstruction effect diagram of the shape of the 3D object of the present invention with a sampling number of 550 dips;
- Figure 3 (d) is a reconstruction effect diagram of the shape of the 3D object of the present invention with a sampling number of 775 dips;
- Fig. 3(e) is a reconstruction effect diagram of the shape of the 3D object of the present invention with a sampling number of 1000 dips.
- 1 is a flow chart of a method of reconstructing a 3D object shape of the present invention.
- the method for reconstructing a 3D object shape of the present invention includes:
- Step a The 3D object is immersed into the liquid from a plurality of angles, and at the same time, the liquid level change is recorded, and a number of non-uniform cross-object slices are constructed.
- the 3D object is immersed into the liquid from a plurality of angles using a jig.
- the invention uses a mechanical arm as a clamp to control the uniform velocity of the object, and the change of the liquid level volume uses a weight sensor, and the sensor converts the volume change into a weight change under the liquid container, and then passes the weight. The transformation pushes out the volume change.
- the weight change is measured several times during the descent process, and finally, the volume of many volume slices can be obtained during the descent.
- the invention controls the uniform descending of the 3D object by the clamp, measures the weight change multiple times during the descending process, and finally obtains the volume of the plurality of volume slices during the descending process.
- Step b Perform resampling measurement on the non-uniform cross object slice to obtain a unified slice and corresponding water level information.
- the volume measurement corresponds to the volume of the object in the given direction of vertical d+k unit length.
- i, d, and k are all positive integers.
- the information obtained above is non-uniform cross-object slice data, and the above data needs to be pre-processed, so the non-uniform processing is performed by a continuous equation and re-sampled into a unified form, and the width of the newly sampled volume slices is the same.
- Step c Smoothing the water level information corresponding to the unified slice by using a Gaussian kernel.
- Step d Construct a sparse linear equation system based on the smoothed water level information to approximate the immersion process of the 3D object in the liquid during the immersion process.
- the method further comprises: performing an experimental test on the fixture to obtain water level information corresponding to the unified slice of the smoothed fixture, and finally obtaining smoothed water level information of only the 3D object.
- the present invention simulates the impregnation process by acting on a rotation and summation matrix that vectorizes voxel objects (imagine a small lattice).
- the rotation matrix represents the direction of the object (since the invention requires immersion of the object to be measured from different directions), and the summation matrix S represents the height of the water.
- S and R are matrices that act locally on a row or adjacent elements, and multiplication yields a sparse matrix ( ⁇ S ⁇ *R).
- Step e Solving the above-mentioned sparse linear equations to reconstruct the voxels of the 3D object.
- step e the LSMR is used to find a sparse linear system of equations.
- the present invention uses LSMR based on the Golub-Kahan double diagonalization process.
- the LSMR iteratively finds a solution to the sparse problem while taking advantage of the sparsity of the matrix B.
- Step f Convert the reconstructed 3D object voxels into a mesh.
- step f the reconstructed 3D object voxels are converted to a mesh using a method of isosurface construction.
- the MarchingCubes algorithm is used to process the 3D object voxels one by one, the cubes intersecting the isosurfaces are classified, and the isosurfaces are calculated by interpolation. The intersection with the edge of the cube ends up with the grid.
- the specific process of obtaining the grid includes:
- Step g Smooth the mesh and finally reconstruct the 3D object.
- 3(a) is a reconstruction effect diagram of the shape of the 3D object of the present invention with a sampling number of 100 dips;
- Figure 3 (b) is a reconstruction effect diagram of the shape of the 3D object of the present invention with a sampling number of 325 dips;
- Figure 3 (c) is a reconstruction effect diagram of the shape of the 3D object of the present invention with a sampling number of 550 dips;
- Figure 3 (d) is a reconstruction effect diagram of the shape of the 3D object of the present invention with a sampling number of 775 dips;
- Fig. 3(e) is a reconstruction effect diagram of the shape of the 3D object of the present invention with a sampling number of 1000 dips.
- the invention adopts the liquid as the technical means of the sensor, and obtains a better scanning effect than the conventional optical scanner for the three-dimensional object having the occlusion portion and the glass material.
- the invention controls the uniform descending of the 3D object by the clamp, measures the weight change multiple times during the descending process, and finally obtains the volume of the plurality of volume slices during the descending process.
- the reconstruction method of the 3D object shape of the present invention is based on the ancient Archimedes principle, the Archimedes principle: the volume in which the liquid is displaced is equal to the volume in which the object is immersed in the water surface.
- the liquid volume displacement can be measured and converted into a series of thin volume sections along the shape of the dip axis.
- immersion transformations By repeatedly immersing the object in water in various angular directions, different volume displacements are produced and converted into so-called "immersion transformations”. Collect samples at different angles. This in turn generates enough data to restore the geometry of the input shape.
- the present invention is based on the use of a volume sample generated by a liquid interaction object, it is possible to acquire a portion of the occlusion and the line of sight that is inaccessible in a relatively simple manner.
- the immersion transformation is reversible so that the three-dimensional shape of the object can be reconstructed therefrom.
- the inverse transformation needs to solve an undetermined problem.
- the matrices involved are large and sparse, almost orthogonal. Therefore, they have non-zero parts and structural characteristics that can be used to accelerate numerical calculations. Given a given set of samples for a given object, a pre-computed factorial decomposition matrix is used to calculate an approximate linear time immersion transformation of the number of samples, and a stable numerical solution to the problem is obtained.
- a key advantage of the proposed method is the use of a liquid as a sensor. Unlike optical sensors, liquids have no line of sight requirements, they penetrate into the cavity and hidden parts of the object being measured, bypassing all visibility and optical limitations of conventional scanning devices.
- FIG. 2 is a schematic structural view of a reconstruction system of a 3D object shape of the present invention.
- a 3D object shape reconstruction system of the present invention includes:
- a non-uniform cross-object slicing building module is used for simultaneously recording a liquid level change in a process of immersing a 3D object from a plurality of angles into a liquid, and constructing a plurality of non-uniform cross-object slices;
- the unified slice and its corresponding water level information acquisition module are configured to resample the non-uniform cross object slice to obtain a unified slice and corresponding water level information;
- a water level information smoothing module configured to smooth water level information corresponding to the unified slice by using a Gaussian kernel
- An immersion process approximation module for constructing a sparse linear equation system based on the smoothed water level information to approximate an immersion process of the 3D object in the liquid during the immersion process;
- a mesh transformation module for converting a reconstructed 3D object voxel into a mesh
- a 3D object reconstruction module for smoothing the mesh and finally reconstructing the 3D object.
- the 3D object is immersed into the liquid from a plurality of angles by using a jig.
- the system further comprises a fixture water level information elimination module, which is used for experimental testing of the fixture, and obtains the water level information corresponding to the unified slice of the smoothed fixture, and finally obtains the smoothed water level information of only the 3D object.
- a fixture water level information elimination module which is used for experimental testing of the fixture, and obtains the water level information corresponding to the unified slice of the smoothed fixture, and finally obtains the smoothed water level information of only the 3D object.
- the invention adopts the liquid as the technical means of the sensor, and obtains a better scanning effect than the conventional optical scanner for the three-dimensional object having the occlusion portion and the glass material.
- the invention controls the uniform descending of the 3D object by the clamp, measures the weight change multiple times during the descending process, and finally obtains the volume of the plurality of volume slices during the descending process.
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Abstract
Description
Claims (10)
- 一种3D物体形状的重构方法,其特征在于,包括:A method for reconstructing a shape of a 3D object, comprising:步骤a:将3D物体从多个角度浸入液体中,且同时追踪记录液位变化,构建出若干非统一交叉对象切片;Step a: immersing the 3D object from the plurality of angles into the liquid, and simultaneously tracking the change of the liquid level, and constructing a plurality of non-uniform intersecting object slices;步骤b:将非统一交叉对象切片进行重采样测量,得到统一切片及其对应的水位信息;Step b: performing resampling measurement on the non-uniform cross object slice to obtain a unified slice and corresponding water level information;步骤c:利用高斯内核平滑所述统一切片相对应的水位信息;Step c: smoothing the water level information corresponding to the unified slice by using a Gaussian kernel;步骤d:根据平滑后的水位信息来构建一个稀疏线性方程组来近似浸没过程3D物体在液体中的浸没过程;Step d: construct a sparse linear equation system according to the smoothed water level information to approximate the immersion process of the 3D object in the liquid during the immersion process;步骤e:求解上述稀疏线性方程组来重建3D物体的体素;Step e: solving the above-mentioned sparse linear equations to reconstruct voxels of the 3D object;步骤f:将重建的3D物体体素转换为网格;Step f: converting the reconstructed 3D object voxel into a mesh;步骤g:平滑网格,最终重构出3D物体。Step g: Smooth the mesh and finally reconstruct the 3D object.
- 如权利要求1所述的一种3D物体形状的重构方法,其特征在于,在所述步骤a中,利用夹具将3D物体从多个角度浸入液体中。A method of reconstructing a shape of a 3D object according to claim 1, wherein in said step a, the 3D object is immersed into the liquid from a plurality of angles by means of a jig.
- 如权利要求2所述的一种3D物体形状的重构方法,其特征在于,在步骤d之前,还包括:对夹具进行实验测试,得到平滑后的夹具的统一切片所对应的水位信息,最终得到仅有3D物体的平滑后的水位信息。The method for reconstructing a 3D object shape according to claim 2, further comprising: performing an experimental test on the fixture to obtain water level information corresponding to the unified slice of the smoothed fixture, and finally The smoothed water level information of only 3D objects is obtained.
- 如权利要求1所述的一种3D物体形状的重构方法,其特征在于,在步骤e中,使用LSMR来求稀疏线性方程组。A method of reconstructing a 3D object shape according to claim 1, wherein in step e, the LSMR is used to find a sparse linear equation system.
- 如权利要求1所述的一种3D物体形状的重构方法,其特征在于,在步骤f中,利用等值面构造的方法将重建的3D物体体素转换为网格。The method for reconstructing a 3D object shape according to claim 1, wherein in step f, the reconstructed 3D object voxel is converted into a mesh by using an isosurface construction method.
- 如权利要求5所述的一种3D物体形状的重构方法,其特征在于,在利用等值面构造的方法将重建的3D物体体素转换为网格的过程中,采用Marching Cubes算法逐个处理3D物体体素,分类出与等值面相交的立方体,采用插值计算出等值面与立方体边的交点,最终得到网格。The method for reconstructing a 3D object shape according to claim 5, wherein in the process of converting the reconstructed 3D object voxel into a mesh by using the isosurface construction method, the Marching Cubes algorithm is used to process one by one. The 3D object voxel classifies the cube intersecting the isosurface, and uses interpolation to calculate the intersection of the isosurface and the cube edge, and finally obtains the mesh.
- 如权利要求6所述的一种3D物体形状的重构方法,其特征在于,得到网格的具体过程包括:A method for reconstructing a shape of a 3D object according to claim 6, wherein the specific process of obtaining the mesh comprises:①根据等值面与体素的对称关系构建一个256种相交关系的索引表;1 Construct an index table of 256 intersecting relations according to the symmetric relationship between the isosurface and the voxel;②提取立方体的8个顶点,构成一个体素并把这8个顶点编号;2 extract the 8 vertices of the cube, form a voxel and number the 8 vertices;③根据每个顶点与阈值的比较确定该顶点在面内还是面外;3 determining whether the vertex is in-plane or out-of-plane according to a comparison of each vertex and a threshold;④把这8个顶点构成的01串组成一个8位的索引值;4 The 01 strings composed of the 8 vertices form an 8-bit index value;⑤用索引值在上边的索引表里查找对应关系,并求出与立方体每条边的点; 5 Use the index value to find the corresponding relationship in the index table above, and find the point with each side of the cube;⑥用交点构成三角形面片或多边形面片;6 using the intersection to form a triangular patch or a polygon patch;⑦遍历三维图像的所有体素,重复执行②到⑥。7 traverse all voxels of the 3D image and repeat 2 to 6.
- 一种3D物体形状的重构系统,其特征在于,包括:A 3D object shape reconstruction system, comprising:非统一交叉对象切片构建模块,其用于在将3D物体从多个角度浸入液体的过程中,同时追踪记录液位变化,构建出若干非统一交叉对象切片;A non-uniform cross-object slicing building module is used for simultaneously recording a liquid level change in a process of immersing a 3D object from a plurality of angles into a liquid, and constructing a plurality of non-uniform cross-object slices;统一切片及其对应水位信息获取模块,其用于将非统一交叉对象切片进行重采样测量,得到统一切片及其对应的水位信息;The unified slice and its corresponding water level information acquisition module are configured to resample the non-uniform cross object slice to obtain a unified slice and corresponding water level information;水位信息平滑模块,其用于利用高斯内核平滑所述统一切片相对应的水位信息;a water level information smoothing module, configured to smooth water level information corresponding to the unified slice by using a Gaussian kernel;浸没过程近似模块,其用于根据平滑后的水位信息来构建一个稀疏线性方程组来近似浸没过程3D物体在液体中的浸没过程;An immersion process approximation module for constructing a sparse linear equation system based on the smoothed water level information to approximate an immersion process of the 3D object in the liquid during the immersion process;重建3D物体的体素模块,其用于求解上述稀疏线性方程组来重建3D物体的体素;Reconstructing a voxel module of the 3D object for solving the above-described sparse linear equations to reconstruct a voxel of the 3D object;网格转化模块,其用于将重建的3D物体体素转换为网格;a mesh transformation module for converting a reconstructed 3D object voxel into a mesh;3D物体重构模块,其用于平滑网格,最终重构出3D物体。A 3D object reconstruction module for smoothing the mesh and finally reconstructing the 3D object.
- 如权利要求8所述的一种3D物体形状的重构系统,其特征在于,在非统一交叉对象切片构建模块中,利用夹具将3D物体从多个角度浸入液体中。A 3D object shape reconstruction system according to claim 8, wherein in the non-uniform cross object slice building module, the 3D object is immersed into the liquid from a plurality of angles by means of a jig.
- 如权利要求9所述的一种3D物体形状的重构系统,其特征在于,该系统还包括夹具水位信息消除模块,其用于对夹具进行实验测试,得到平滑后的夹具的统一切片所对应的水位信息,最终得到仅有3D物体的平滑后的水位信息。 A 3D object shape reconstruction system according to claim 9, wherein the system further comprises a fixture water level information eliminating module for performing an experimental test on the fixture to obtain a unified slice corresponding to the smoothed fixture. The water level information finally results in smoothed water level information for only 3D objects.
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US20150170379A1 (en) * | 2013-12-17 | 2015-06-18 | Electronics And Telecommunications Research Institute | Apparatus and method for measuring three-dimensional (3d) shape of object by using liquid |
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US20150170379A1 (en) * | 2013-12-17 | 2015-06-18 | Electronics And Telecommunications Research Institute | Apparatus and method for measuring three-dimensional (3d) shape of object by using liquid |
CN104792283A (en) * | 2015-04-10 | 2015-07-22 | 桂林电子科技大学 | Three-dimensional nondestructive measurement method and three-dimensional nondestructive measurement device for object with complex outline |
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