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浙江大学学报(工学版)
浙江大学学报(工学版)  2025, Vol. 59 Issue (10): 2045-2055    DOI: 10.3785/j.issn.1008-973X.2025.10.005
机械工程     
无序点云模型的多孔洞修补方法
侯月桥1(),王承彦1,怀思然2,李勇航1,陈嘉琳2,谭大鹏1,*()
1. 浙江工业大学 机械工程学院，浙江 杭州 310023
2. 中国航空工业集团有限公司 北京长城航空测控技术研究所，北京 101111
Multi-hole repair method for unordered point cloud models
Yueqiao HOU1(),Chengyan WANG1,Siran HUAI2,Yonghang LI1,Jialin CHEN2,Dapeng TAN1,*()
1. College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, China
2. Beijing Changcheng Aeronautical Measurement and Control Technology Research Institute, Aviation Industry Corporation of China, Limited , Beijing 101111, China
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摘要：

针对数据处理产生的点云模型孔洞，提出无序点云的多孔洞修补方法. 推导出不均匀数据点的密度公式得到邻域投影范围，使用角判别法以整体拟合平面为投影面进行边界识别. 定义边界形心，以形心、边界和边界邻域三者之间的位置关系提取孔洞边界. 在规则化与均匀化投影边界内以三角片法插值点，基于边界邻域拟合曲面还原孔洞特征，推导出参数方程进行点云孔洞填充，设计多维循环算法实现多孔洞自动修补. 利用CAD点云模型与激光雷达测量数据分别进行算法分析与实验验证. 结果表明，所提方法有效减少了以微切面为投影面时边界点的错误识别，实现了多个不同孔同时存在时无序点云模型的修补；在针对不同对象的实验中，所提方法的修复误差达到毫米级.
关键词： 无序点云;  孔洞识别;  非均匀数据;  参数映射方程;  多孔洞修补    
Abstract:

To address the holes of point cloud models generated by data processing, a multi-hole repair method for unordered point clouds was proposed. A density formula for nonuniform data points was proposed to obtain the range of neighborhoods to be projected, and the boundaries were identified by the angular discrimination method using the overall fitting plane as the projection surface. The boundary centers were defined, and the hole boundaries were extracted with the positional relationship among the boundary centers, the boundary, and the boundary neighbors. Points were interpolated using the triangular patch method within the regularized and homogenized projection boundary, and surface reduction hole features were fitted based on the boundary neighborhood. A parametric equation was proposed to fill the point cloud holes, and a multidimensional loop algorithm was designed to realize the automatic repair of multiple holes. The algorithm was analyzed and experimentally validated by a CAD point cloud model and LiDAR measurement data, respectively. Results show that the proposed method leads to an effective reduction of misidentified points at the boundary when the microtome is used as the projection plane, and the repair of unordered point cloud models with multiple holes has been achieved. In experiments for point clouds of different objects, the proposed method achieves a restoration error in the millimeter range.
Key words: unordered point cloud    hole identification    nonuniform data    parameter mapping equations    multi-hole repair
收稿日期: 2024-09-28 出版日期: 2025-10-27
CLC:  TP 274  
通讯作者: 谭大鹏     E-mail: student_qiao@163.com;tandapeng@zjut.edu.cn
作者简介: 侯月桥（1999—），男，博士生，从事激光测量中点云误差补偿研究. orcid.org/0009-0006-7861-3140. E-mail：student_qiao@163.com
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侯月桥
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怀思然
李勇航
陈嘉琳
谭大鹏

引用本文:

侯月桥,王承彦,怀思然,李勇航,陈嘉琳,谭大鹏. 无序点云模型的多孔洞修补方法[J]. 浙江大学学报(工学版), 2025, 59(10): 2045-2055.

Yueqiao HOU,Chengyan WANG,Siran HUAI,Yonghang LI,Jialin CHEN,Dapeng TAN. Multi-hole repair method for unordered point cloud models. Journal of ZheJiang University (Engineering Science), 2025, 59(10): 2045-2055.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2025.10.005    或    https://www.zjujournals.com/eng/CN/Y2025/V59/I10/2045

图 1  孔洞边界识别流程图
图 2  角判别法示意图
图 3  边界识别效果图
图 4  边界分割效果图
图 5  孔洞边界识别与定位
图 6  点云孔洞修补流程图
图 7  投影边界预处理过程
图 8  基于三角片法的点插值过程
图 9  三角片法的点插值原理
图 10  孔洞修补结果与绝对修复误差
图 11  多孔洞边界识别效果图
图 12  多孔洞修补效果图
图 13  不同孔洞识别方法对比
图 14  不同孔洞修补方法对比
图 15  曲面方程拟合方法的绝对修复误差
图 16  激光雷达测量平台
图 17  汽车点云图
图 18  汽车点云的孔洞修补效果图
图 19  管道原貌及其点云图
图 20  管道点云的孔洞修补结果与绝对修复误差
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