WO2022057250A1 - 三角网格的分割去噪方法 - Google Patents
三角网格的分割去噪方法 Download PDFInfo
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- WO2022057250A1 WO2022057250A1 PCT/CN2021/087447 CN2021087447W WO2022057250A1 WO 2022057250 A1 WO2022057250 A1 WO 2022057250A1 CN 2021087447 W CN2021087447 W CN 2021087447W WO 2022057250 A1 WO2022057250 A1 WO 2022057250A1
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- triangular mesh
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- denoising
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000011218 segmentation Effects 0.000 claims abstract description 39
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- 238000005457 optimization Methods 0.000 claims description 10
- 230000002146 bilateral effect Effects 0.000 claims description 9
- 125000002619 bicyclic group Chemical group 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 28
- 238000010586 diagram Methods 0.000 description 11
- 238000005516 engineering process Methods 0.000 description 3
- 238000007781 pre-processing Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 238000005315 distribution function Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/70—Denoising; Smoothing
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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
- G06T17/205—Re-meshing
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/23—Clustering techniques
-
- 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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/136—Segmentation; Edge detection involving thresholding
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T7/187—Segmentation; Edge detection involving region growing; involving region merging; involving connected component labelling
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- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20024—Filtering details
- G06T2207/20028—Bilateral filtering
Definitions
- the present application relates to the technical field of image processing, for example, to a triangular mesh segmentation and denoising method.
- the triangular mesh model will inevitably be polluted by noise, and the noise will reduce the data quality of the triangular mesh model itself. Moreover, the noise will also affect the processing effect of subsequent meshes, thereby affecting the The effect of 3D scanned images.
- the denoising algorithms and technologies in the related art have at least the following problems: 1) Most of the triangular mesh denoising methods in the related art use local neighborhood information, and when denoising, the isotropic points or surfaces in the neighborhood are assigned Larger weights, anisotropic points or surfaces are assigned smaller weights, and even smaller weights will still affect the denoising effect, and will destroy sharp features to a certain extent; 2) In order to suppress anisotropic Point or face the influence of the denoising effect, parameters such as angle and distance will be introduced during denoising, which will undoubtedly increase the difficulty of parameter tuning, and this method is still not easy to achieve the expected results, especially those People who are not familiar enough with the algorithm, this tends to increase their burden; 3) Some other methods use more information for mesh denoising, which often involves a lot of computation and usually makes the speed slower.
- the present application provides a triangular mesh segmentation and denoising method, which can effectively solve the segmentation problem of a noisy model, which not only improves the running speed of noise processing, but also effectively preserves the boundary features and details of the data.
- An embodiment provides a method for dividing and denoising a triangular mesh, including: reading triangular mesh data including N triangular patches, judging the noise level of the triangular mesh data, and determining the noise level of the triangular mesh data is high. Perform optimization processing on the data of the preset value, where N>1; use the region growing segmentation algorithm to divide the triangular mesh data, so that the triangular mesh data forms multiple sub-regions; use the hole filling algorithm to optimize the divided data. and filtering the segmented triangular mesh data using a denoising algorithm.
- FIG. 2 is a schematic structural diagram of a side-sharing triangle provided by an embodiment of the present application.
- FIG. 3 is an effect diagram of triangular mesh data forming multiple sub-regions provided by an embodiment of the present application
- FIG. 4 is a diagram of the segmentation effect of a small noise according to an embodiment of the present application.
- FIG. 6 is an effect diagram of marking an edge greater than a D thr value with a small noise under a preset D thr value according to an embodiment of the present application
- FIG. 7 provides an effect diagram of segmenting a large noise and marking it to the original noise model according to an embodiment of the application
- FIG. 8 is one of the denoising effect diagrams for a large noise according to an embodiment of the present application.
- FIG. 9 is the second diagram of the denoising effect on a large noise according to an embodiment of the present application.
- FIG. 10 is one of the denoising effect diagrams for a small noise according to an embodiment of the present application.
- FIG. 11 is the second diagram of the denoising effect on a small noise according to an embodiment of the present application.
- FIG. 13 is a graph of denoising results of a small noise in the case of a hole algorithm and a hole-free algorithm, respectively, according to an embodiment of the present application.
- the terms “installation”, “connection”, “connection”, “fixation” and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection, Or integrally connected; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication between the two components.
- installation e.g., it may be a fixed connection or a detachable connection, Or integrally connected; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication between the two components.
- a method for segmenting and denoising a triangular mesh comprising the following steps:
- the probability density function of Gaussian noise is calculated by It can be seen that the Gaussian noise when ⁇ 0.3 is defined as large noise, where z is the coordinate value of the triangular grid, ⁇ is the local coordinate mean of the triangular grid, and ⁇ is the standard deviation.
- the data with large noise is optimized by constructing an objective optimization function, so as to enhance the boundary information of the data, and it is more convenient to process the segmentation of the data as a whole.
- a region growing segmentation algorithm is used to segment the triangular mesh data, so that the triangular mesh data forms multiple sub-regions.
- the common region growing algorithm usually uses the positional relationship for diffusion, and can use the normal or connection information as the boundary condition for judging the growth.
- the preset value D thr is set as the judgment condition of the division strength coefficient and the growth boundary.
- the region growing segmentation algorithm of the segmentation process of the present application concentrates the features and signals of the current region, effectively reducing the influence of signals in different regions, and, in the optimization process, the noisy data is first segmented and then filtered. , and perform denoising processing on the sub-regions after the region segmentation. Compared with the related technology, the boundary features and details are effectively preserved. At the same time, the technical solution of the present application significantly improves the stability of the algorithm. good optimization results can be obtained for the segmentation problem.
- the threshold D thr is set as the boundary judgment condition for region growth, and the norm
- F1 is equivalent to a seed surface that has not been divided. It traverses each common triangle of the seed surface F1, and judges whether the value of
- the normal direction n i of the triangle that needs to be corrected is counted
- the normal direction n j of the triangle in each area of the two-ring neighborhood S(i) is counted
- n i and n j are accumulated
- the calculation method for accumulating with n j is: Wherein, A is the sum of the accumulated number of the cosine value of n i and the cosine value of n j
- cos(n i , n j ) represents the cosine value of n i and the cosine value of n j .
- segmentation process of the present application can be embedded in all local point or surface denoising algorithms, which has strong versatility and excellent running performance.
- the fast normal filtering algorithm, the bilateral normal filtering algorithm, the guided normal filtering algorithm and the L1 median filtering algorithm are respectively used to filter the divided triangular mesh data to obtain the desired image.
- the filtering process of the fast normal filtering algorithm includes: firstly weighted average of adjacent surface normals, then use threshold to eliminate interfering surfaces, and iteratively filter the noisy surface normals, and then iteratively update the vertex positions to make them consistent with The surface normals after denoising are consistent, so as to achieve image filtering.
- the filtering process of the bilateral normal filtering algorithm includes: firstly using the spatial distance weight and the method weight, combined with the bilateral operator, iteratively update the normal domain, and then iteratively update the vertex position, so as to realize the filtering of the image.
- the filtering process of the guided normal filtering algorithm includes: first, using joint bilateral filtering to process the normal direction of the triangular facet, and then updating the position of the vertex according to the filtered normal direction, so as to realize the filtering of the image. Moreover, when performing joint bilateral filtering on the normals of the triangular patches, an appropriate guiding normal should be selected.
- the filtering process of the L1 median filter algorithm consists of: first, preprocessing the noisy input mesh; then, using the L1 median filter to estimate the normals of the denoised surface; filter.
- p 1 , p 2 , p 3 , and p 4 are the coordinates of the four vertices of the co-sided triangle, respectively.
- the coordinates of p 1 are (x 1 , y 1 , z 1 )
- the coordinates of p 2 The coordinates are (x 2 , y 2 , z 2 )
- the coordinates of p 3 are (x 3 , y 3 , z 3 )
- the coordinates of p 4 are (x 4 , y 4 , z 4 )
- p 1 -p 3 means (x 1 , y 1 , z 1 )-(x 3 , y 3 , z 3 )
- p 1 -p 4 means (x 1 , y 1 , z 1 )-(x 4 , y 4 , z 4 )
- p 3 -p 1 means (x 3 , y 3 , z 3 )-(x 1
- D(e) x represents the differential edge operator of the colateral triangle in the x direction in the 3D Cartesian coordinate system
- D(e) y represents the differential edge operator of the colateral triangle in the y direction in the 3D Cartesian coordinate system
- D( e) z represents the differential edge operator for a colateral triangle in the z direction in a 3D Cartesian coordinate system.
- the model obtained by the L1 median filter algorithm, the next row in Figure 8 represents the denoising effect with the segmentation framework of the present application, and the next row in Figure 8 corresponds to the original noise from the left to the right.
- model the model obtained after segmentation and then using the bilateral normal filtering algorithm, the model obtained after segmentation and then using the fast normal filtering algorithm, the model obtained after segmentation and then using the guided normal filtering algorithm, and the model obtained after segmentation and then using the L1 median filtering algorithm
- the obtained model obviously, the image optimization effect obtained by this application is better.
- the denoising results of the hole filling algorithm and the hole filling algorithm are compared: among them, (a) is the clustering result without the hole filling algorithm. ; (b) denoising based on the clustering results without the hole filling algorithm in (a); (c) based on the results of (b) and adding the hole filling algorithm to optimize the clustering; (d) based on the denoising of (c) Noise results, as can be seen from the figure, the denoising effect of the hole filling algorithm is better.
- the segmentation algorithm of the present application serves the denoising algorithm, and the purpose is to propose a framework for enhancing the triangular mesh denoising algorithm in the related art, improve the performance of the denoising algorithm, and embed some denoising algorithms into the segmentation of the present application.
- the influence of non-anisotropic neighborhoods on the denoising results is avoided, the performance of the operation is improved, and the protection of sharp features is effectively and significantly enhanced.
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Abstract
Description
Claims (8)
- 一种三角网格的分割去噪方法,包括:读取包含N个三角面片的三角网格数据,判断所述三角网格数据的噪声等级,并对所述噪声等级高于预设值的数据进行优化处理,其中,N>1;采用区域生长分割算法分割所述三角网格数据,使所述三角网格数据形成多个子区域;采用孔洞填充算法优化分割后的所述三角网格数据;及采用去噪算法对分割后的所述三角网格数据进行滤波。
- 如权利要求1所述的三角网格的分割去噪方法,其中,所述采用区域生长分割算法分割所述三角网格数据,使所述三角网格数据形成多个子区域包括:提取所述三角网格数据中的一个三角面片,遍历所述三角面片的每个共边三角形,计算每个共边三角形的差分边缘运算符D(e)的值;及将阈值D thr设定为区域生长的边界判断条件,对每个共边三角形计算范数||D(e)||,使满足||D(e)||<D thr关系式的共边三角形与所述三角面片划分为同一个子区域。
- 如权利要求2所述的三角网格的分割去噪方法,其中,所述共边三角形的差分边缘运算符D(e)的计算方式为:其中,p 1、p 2、p 3、p 4分别为所述共边三角形的四个顶点坐标,在三维直角坐标系中,p 1的坐标为(x 1,y 1,z 1),p 2的坐标为(x 2,y 2,z 2),p 3的坐标为(x 3,y 3,z 3),p 4的坐标为(x 4,y 4,z 4),p 1-p 3表示(x 1,y 1,z 1)-(x 3,y 3,z 3),p 1-p 4 表示(x 1,y 1,z 1)-(x 4,y 4,z 4),p 3-p 1表示(x 3,y 3,z 3)-(x 1,y 1,z 1),p 2-p 1表示(x 2,y 2,z 2)-(x 1,y 1,z 1),p 3-p 2表示(x 3,y 3,z 3)-(x 2,y 2,z 2),p 4-p 3表示(x 4,y 4,z 4)-(x 3,y 3,z 3),Δ 1,2,3为p 1、p 2和p 3所围成的三角形面积,Δ 1,3,4为p 1、p 3和p 4所围成的三角形面积。
- 如权利要求1所述的三角网格的分割去噪方法,其中:所述采用孔洞填充算法优化分割后的所述三角网格数据包括:对多个子区域进行检索,获得需要进行更正的三角形;遍历每个需要进行更正的三角形的二环邻域S(i);及统计需要进行更正的三角形的法向n i,统计所述二环邻域S(i)的每个区域的三角形的法向n j,对所述n i和所述n j进行累加。
- 如权利要求1所述的三角网格的分割去噪方法,其中,所述对噪声等级高于噪声等级δ≥0.3le的数据进行优化处理,其中,le为噪声等级的单位。
- 如权利要求1所述的三角网格的分割去噪方法,其中:所述采用去噪算法对分割后的所述三角网格数据进行滤波包括分别采用快速法向滤波算法、双边 法向滤波、引导法向滤波和L1中值滤波算法对分割后的所述三角网格数据进行滤波。
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CN112529811A (zh) * | 2020-12-17 | 2021-03-19 | 中国地质大学(武汉) | 一种保留地形表面结构特征的dem数据去噪方法 |
CN115294258B (zh) * | 2022-09-26 | 2022-12-23 | 腾讯科技(深圳)有限公司 | 三维模型的展开方法、装置、设备及计算机可读存储介质 |
CN116630330A (zh) * | 2023-07-26 | 2023-08-22 | 征图新视(江苏)科技股份有限公司 | 一种基于边缘差分的三角网格平面缺陷检测方法 |
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