3D Reconstruction Technique of Pipe Based on Centerline Matching
-
摘要: 针对工业领域中导管的三维重建效率低的问题,提出了一种基于中心线匹配的导管三维重建方法.该方法首先通过导管的平面灰度图像提取出中心线和边缘线,根据立体视觉原理,以非均匀有理 B样条(Non-uniform rational B-spline, NURBS)曲线作为导管中心线的描述工具和匹配基元,利用其透视投影不变性,重建导管的空间中心线,并通过边缘线计算导管的外径,最后利用三维建模技术重建导管的CAD模型.相对于现有导管三维重建方法,该方法具有测量效率高,操作简单的特点.实验结果表明,该方法的导管三维重建时间可控制在1分钟内,重投影误差为0.284像素,导管两端面中心点的测量误差为0.242mm,外径测量误差为0.158mm.Abstract: For the problem of low efficiency of 3D reconstruction of pipe in the industrial field, a 3D reconstruction method of pipe based on centerline matching is presented. First, the centerlines and edges of the pipe are extracted from pipe's gray-level images. According to the principle of stereo vision, non-uniform rational B-spline(NURBS) curve is chosen as a description tool and matching primitive. The spatial centerlines of the pipe are reconstructed based on the perspective projection invariance of NURBS curve, and the external diameter of the pipe is calculated through the extracted edges. Finally, the pipe's CAD model is reconstructed by 3D modeling technique. Compared with the existing methods, the proposed method has the advantages of high efficiency and simple operation. It is shown through experimental results that the time of 3D reconstruction is within 1 minute, the re-projection error is 0.284 pixel, the measurement error of end points is 0.242mm, and the measurement error of external diameter is 0.158mm.
-
Key words:
- Pipe /
- stereo vision /
- 3D reconstruction /
- centerline matching /
- non-uniform rational B-spline(NURBS)
-
[1] Xin Qin, Ding Ming-Yue, Tu Ji-Lin. Research on active 3D shape retrieval based on one-shot image. Acta Automatica Sinica, 2001, 27(1):47-55(辛勤, 丁明跃, 涂吉林. 单像机有源形状恢复方法研究. 自动化学报, 2001, 27(1):47-55) [2] Zhu Ji-Hua, Zheng Nan-Ning, Yuan Ze-Jian, He Yong-Jian. A slam approach by combining ICP algorithm and particle filter. Acta Automatica Sinica, 2009, 35(8):1107-1113(祝继华, 郑南宁, 袁泽剑, 何永健. 基于ICP算法和粒子滤波的未知环境地图创建. 自动化学报, 2009, 35(8):1107-1113) [3] Qiu Gu-Feng, Yu Jing-Chi, Huang Qi-Tai, Ni Ying, Wang Yi. Mathematical model of contacting freeform surface contour measurement. Optics and Precision Engineering, 2013, 21(11):2813-2820(仇谷烽, 余景池, 黄启泰, 倪颖, 王毅. 接触式三坐标测量自由曲面轮廓的数据处理模型. 光学精密工程, 2013, 21(11):2813-2820) [4] Shi Li-Min, Guo Fu-Sheng, Hu Zhan-Yi. An improved PMVS through scene geometric information. Acta Automatica Sinica, 2011, 37(5):560-568(史利民, 郭复胜, 胡占义. 利用空间几何信息的改进PMVS算法. 自动化学报, 2011, 37(5):560-568) [5] Wu Lun, Wang Yong-Tian, Liu Yue. A robust approach based on photometric stereo for surface reconstruction. Acta Automatica Sinica, 2013, 39(8):1339-1348(吴仑, 王涌天, 刘越. 一种鲁棒的基于光度立体视觉的表面重建方法. 自动化学报, 2013, 39(8):1339-1348) [6] [6] Zhang K, Gao Z. The technology of fast 3D reconstruction based on stereo vision. Key Engineering Materials, 2014, 579:654-658 [7] Zhao Yu-Qin, Zhang Li-Yan. Pipe parameter estimation in photogrammetry. Machine Building and Automation, 2008, 37(6):114-117(赵玉芹, 张丽艳. 基于摄影测量的管路参数确定. 机械制造与自动化, 2008, 37(6):114-117) [8] [8] Bosemann W. The optical tube measurement system OLM-photogrammetric methods used for industrial automation and process control. International Archives of Photogrammetry and Remote Sensing, 1996, XXXI(B5):55-58 [9] [9] Veldhuis H, Vosselman G. The 3D reconstruction of straight and curved pipes using digital line photogrammetry. Journal of Photogrammetry and Remote Sensing, 1998, 53:6-16 [10] Zhang Hu, Zhang Xiang-Lin, Zhang Chang, Huang Shu-Huai. A new approach for the bent tube non-contact measurement. Chinese Journal of Scientific Instrument, 1999, 20(4):438-440(张虎, 张祥林, 张畅, 黄树槐. 弯管非接触测量的一种新方法. 仪器仪表学报, 1999, 20(4):438-440) [11] Hu Ming-Xiao, Bai Bao-Gang. Direct Greville ordinate algorithm for implicit B-spline curve reconstruction. Computer Engineering and Applications, 2014, 50(1):175-179(胡明晓, 白宝钢. 隐式B-样条曲线重建的直接Greville纵标法. 计算机工程与应用, 2014, 50(1):175-179) [12] Zhao Yan-Li, Wang Zhan, Guo Cheng-Hao, Liu Feng-Yu. Two approaches for 3D reconstruction of free-form curves based on BSC-spline curves and cubic spline curves. Application Research of Computers, 2006, 23(11):252-254(赵颜利, 王湛, 郭成昊, 刘凤玉. 基于BSC和三次样条曲线的两种自由曲线重建方法. 计算机应用研究, 2006, 23(11):252-254) [13] Xiang Chang-Bo, Xu Jian-Hua. 3D reconstruction and measurement of irregular objects based on NURBS curve. Chinese Journal of Scientific Instrument, 2009, 30(10):243-248(向长波, 许建华. 基于NURBS曲线的不规则物体三维重建与测量. 仪器仪表学报, 2009, 30(10):243-248) [14] Zhan Xiao-Kang, Sha Yue-Jin. Aerial image matching based on image segmentation and Harris algorithm. Journal of Southeast University(Natural Science Edition), 2013, 43(S2):440-445(占小康, 沙月进. 基于图像分割和Harris的低空影像匹配. 东南大学学报(自然科学版), 2013, 43(S2):440-445) [15] Xu Hong-Ke, Qin Yan-Yan, Chen Hui-Ru. An improved algorithm for edge detection based on Canny. Infrared Technology, 2014,(3):210-214(许宏科, 秦严严, 陈会茹. 一种基于改进Canny的边缘检测算法. 红外技术, 2014,(3):210-214) [16] Xiao Yi-Jun. Research on 3D Reconstruction Approach of Curves Based on Parametric Model [Ph.D. dissertation], Huazhong University of Science and Technology, China, 2000.(肖轶军. 基于参数模型的曲线三维重建方法研究 [博士学位论文], 华中科技大学,中国, 2000.)
点击查看大图
计量
- 文章访问数: 1640
- HTML全文浏览量: 96
- PDF下载量: 1591
- 被引次数: 0