An automatic 3D registration method for rock mass point clouds based on plane detection and polygon matching

2019 ◽  
Vol 36 (4) ◽  
pp. 669-681 ◽  
Author(s):  
Liang Hu ◽  
Jun Xiao ◽  
Ying Wang
Keyword(s):  
Rock Mass ◽  
Point Clouds ◽  
Mass Point ◽  
3D Registration ◽  
Registration Method

scholarly journals High-Precision Plane Detection Method for Rock-Mass Point Clouds Based on Supervoxel

Sensors ◽  
2020 ◽  
Vol 20 (15) ◽  
pp. 4209
Author(s):  
Dongbo Yu ◽  
Jun Xiao ◽  
Ying Wang
Keyword(s):  
Rock Mass ◽  
High Precision ◽  
Point Cloud ◽  
Region Growing ◽  
Complex Surface ◽  
Point Clouds ◽  
Recall Rate ◽  
Mass Point ◽  
Surface Structures ◽  
Superior Performance

In respect of rock-mass engineering, the detection of planar structures from the rock-mass point clouds plays a crucial role in the construction of a lightweight numerical model, while the establishment of high-quality models relies on the accurate results of surface analysis. However, the existing techniques are barely capable to segment the rock mass thoroughly, which is attributed to the cluttered and unpredictable surface structures of the rock mass. This paper proposes a high-precision plane detection approach for 3D rock-mass point clouds, which is effective in dealing with the complex surface structures, thus achieving a high level of detail in detection. Firstly, the input point cloud is fast segmented to voxels using spatial grids, while the local coplanarity test and the edge information calculation are performed to extract the major segments of planes. Secondly, to preserve as much detail as possible, supervoxel segmentation instead of traditional region growing is conducted to deal with scattered points. Finally, a patch-based region growing strategy applicable to rock mass is developed, while the completed planes are obtained by merging supervoxel patches. In this paper, an artificial icosahedron point cloud and four rock-mass point clouds are applied to validate the performance of the proposed method. As indicated by the experimental results, the proposed method can make high-precision plane detection achievable for rock-mass point clouds while ensuring high recall rate. Furthermore, the results of both qualitative and quantitative analyses evidence the superior performance of our algorithm.

scholarly journals Robust affine registration method using line/surface normals and correntropy criterion

2022 ◽  
Author(s):  
Abdurrahman Yilmaz ◽  
Hakan Temeltas
Keyword(s):  
Closed Form Solution ◽  
Point Clouds ◽  
Form Solution ◽  
Least Square ◽  
3D Registration ◽  
Point Sets ◽  
Registration Method ◽  
Affine Registration ◽  
Surface Normal ◽  
Application Procedure

AbstractThe problem of matching point clouds is an efficient way of registration, which is significant for many research fields including computer vision, machine learning, and robotics. There may be linear or non-linear transformation between point clouds, but determining the affine relation is more challenging among linear cases. Various methods have been presented to overcome this problem in the literature and one of them is the affine variant of the iterative closest point (ICP) algorithm. However, traditional affine ICP variants are highly sensitive to effects such as noises, deformations, and outliers; the least-square metric is substituted with the correntropy criterion to increase the robustness of ICPs to such effects. Correntropy-based robust affine ICPs available in the literature use point-to-point metric to estimate transformation between point clouds. Conversely, in this study, a line/surface normal that examines point-to-curve or point-to-plane distances is employed together with the correntropy criterion for affine point cloud registration problems. First, the maximum correntropy criterion measure is built for line/surface normal conditions. Then, the closed-form solution that maximizes the similarity between point sets is achieved for 2D registration and extended for 3D registration. Finally, the application procedure of the developed robust affine ICP method is given and its registration performance is examined through extensive experiments on 2D and 3D point sets. The results achieved highlight that our method can align point clouds more robustly and precisely than the state-of-the-art methods in the literature, while the registration time of the process remains at reasonable levels.

scholarly journals Major Orientation Estimation-Based Rock Surface Extraction for 3D Rock-Mass Point Clouds

2019 ◽  
Vol 11 (6) ◽  
pp. 635 ◽  
Author(s):  
Lupeng Liu ◽  
Jun Xiao ◽  
Ying Wang
Keyword(s):  
Rock Mass ◽  
3D Modeling ◽  
Point Cloud ◽  
Rapid Development ◽  
Point Clouds ◽  
Engineering Calculation ◽  
Mass Point ◽  
Gaussian Kernel ◽  
Rock Surface ◽  
Surface Extraction

In the fields of 3D modeling, analysis of discontinuities and engineering calculation, surface extraction is of great importance. The rapid development of photogrammetry and Light Detection and Ranging (LiDAR) technology facilitates the study of surface extraction. Automatic extraction of rock surfaces from 3D rock-mass point clouds also becomes the basis of 3D modeling and engineering calculation of rock mass. This paper presents an automated and effective method for extracting rock surfaces from unorganized rock-mass point clouds. This method consists of three stages: (i) clustering based on voxels; (ii) estimating major orientations based on Gaussian Kernel and (iii) rock surface extraction. Firstly, the two-level spatial grid is used for fast voxelization and segmenting the point cloud into three types of voxels, including coplanar, non-coplanar and sparse voxels. Secondly, the coplanar voxels, rather than the scattered points, are employed to estimate major orientations by using a bivariate Gaussian Kernel. Finally, the seed voxels are selected on the basis of major orientations and the region growing method based on voxels is applied to extract rock surfaces, resulting in sets of surface clusters. The sub-surfaces of each cluster are coplanar or parallel. In this paper, artificial icosahedron point cloud and natural rock-mass point clouds are used for testing the proposed method, respectively. The experimental results show that, the proposed method can effectively and accurately extract rock surfaces in unorganized rock-mass point clouds.

scholarly journals Linear-Based Incremental Co-Registration of MLS and Photogrammetric Point Clouds

2021 ◽  
Vol 13 (11) ◽  
pp. 2195
Author(s):  
Shiming Li ◽  
Xuming Ge ◽  
Shengfu Li ◽  
Bo Xu ◽  
Zhendong Wang
Keyword(s):  
Point Cloud ◽  
Laser Scanning ◽  
Point Clouds ◽  
Registration Method ◽  
Cloud Data ◽  
Linear Feature ◽  
Data Registration ◽  
Source Point ◽  
Urban Remote Sensing ◽  
Single Data

Today, mobile laser scanning and oblique photogrammetry are two standard urban remote sensing acquisition methods, and the cross-source point-cloud data obtained using these methods have significant differences and complementarity. Accurate co-registration can make up for the limitations of a single data source, but many existing registration methods face critical challenges. Therefore, in this paper, we propose a systematic incremental registration method that can successfully register MLS and photogrammetric point clouds in the presence of a large number of missing data, large variations in point density, and scale differences. The robustness of this method is due to its elimination of noise in the extracted linear features and its 2D incremental registration strategy. There are three main contributions of our work: (1) the development of an end-to-end automatic cross-source point-cloud registration method; (2) a way to effectively extract the linear feature and restore the scale; and (3) an incremental registration strategy that simplifies the complex registration process. The experimental results show that this method can successfully achieve cross-source data registration, while other methods have difficulty obtaining satisfactory registration results efficiently. Moreover, this method can be extended to more point-cloud sources.

scholarly journals SPPD: A Novel Reassembly Method for 3D Terracotta Warrior Fragments Based on Fracture Surface Information

2021 ◽  
Vol 10 (8) ◽  
pp. 525
Author(s):  
Wenmin Yao ◽  
Tong Chu ◽  
Wenlong Tang ◽  
Jingyu Wang ◽  
Xin Cao ◽  
...  
Keyword(s):  
Fracture Surface ◽  
Principal Component ◽  
Point Clouds ◽  
Three Dimension ◽  
Registration Method ◽  
Series Of Experiments ◽  
Coarse To Fine ◽  
Fine Registration ◽  
Common Situation ◽  
Better Than

As one of China′s most precious cultural relics, the excavation and protection of the Terracotta Warriors pose significant challenges to archaeologists. A fairly common situation in the excavation is that the Terracotta Warriors are mostly found in the form of fragments, and manual reassembly among numerous fragments is laborious and time-consuming. This work presents a fracture-surface-based reassembling method, which is composed of SiamesePointNet, principal component analysis (PCA), and deep closest point (DCP), and is named SPPD. Firstly, SiamesePointNet is proposed to determine whether a pair of point clouds of 3D Terracotta Warrior fragments can be reassembled. Then, a coarse-to-fine registration method based on PCA and DCP is proposed to register the two fragments into a reassembled one. The above two steps iterate until the termination condition is met. A series of experiments on real-world examples are conducted, and the results demonstrate that the proposed method performs better than the conventional reassembling methods. We hope this work can provide a valuable tool for the virtual restoration of three-dimension cultural heritage artifacts.

Towards automatic discontinuity trace extraction from rock mass point cloud without triangulation

2018 ◽  
Vol 112 ◽  
pp. 226-237 ◽  
Author(s):  
Jiateng Guo ◽  
Lixin Wu ◽  
Minmin Zhang ◽  
Shanjun Liu ◽  
Xiaoyu Sun
Keyword(s):  
Rock Mass ◽  
Point Cloud ◽  
Mass Point

Automatic 3D point clouds registration method

2010 ◽  
Author(s):  
Ting Wu ◽  
Naiguang Lv ◽  
Xiaoping Lou ◽  
Peng Sun
Keyword(s):  
Point Clouds ◽  
Registration Method ◽  
3D Point Clouds

scholarly journals A ROBUST REGISTRATION ALGORITHM FOR POINT CLOUDS FROM UAV IMAGES FOR CHANGE DETECTION

2016 ◽  
Vol XLI-B1 ◽  
pp. 765-772 ◽  
Author(s):  
A. Al-Rawabdeh ◽  
H. Al-Gurrani ◽  
K. Al-Durgham ◽  
I. Detchev ◽  
F. He ◽  
...  
Keyword(s):  
Point Clouds ◽  
Large Field ◽  
Economic Losses ◽  
Landslide Monitoring ◽  
Registration Method ◽  
Bundle Block Adjustment ◽  
Area Of Interest ◽  
3D Point Clouds ◽  
Reconstructed Surfaces ◽  
Orientation Parameters

Landslides are among the major threats to urban landscape and manmade infrastructure. They often cause economic losses, property damages, and loss of lives. Temporal monitoring data of landslides from different epochs empowers the evaluation of landslide progression. Alignment of overlapping surfaces from two or more epochs is crucial for the proper analysis of landslide dynamics. The traditional methods for point-cloud-based landslide monitoring rely on using a variation of the Iterative Closest Point (ICP) registration procedure to align any reconstructed surfaces from different epochs to a common reference frame. However, sometimes the ICP-based registration can fail or may not provide sufficient accuracy. For example, point clouds from different epochs might fit to local minima due to lack of geometrical variability within the data. Also, manual interaction is required to exclude any non-stable areas from the registration process. In this paper, a robust image-based registration method is introduced for the simultaneous evaluation of all registration parameters. This includes the Interior Orientation Parameters (IOPs) of the camera and the Exterior Orientation Parameters (EOPs) of the involved images from all available observation epochs via a bundle block adjustment with self-calibration. Next, a semi-global dense matching technique is implemented to generate dense 3D point clouds for each epoch using the images captured in a particular epoch separately. The normal distances between any two consecutive point clouds can then be readily computed, because the point clouds are already effectively co-registered. A low-cost DJI Phantom II Unmanned Aerial Vehicle (UAV) was customised and used in this research for temporal data collection over an active soil creep area in Lethbridge, Alberta, Canada. The customisation included adding a GPS logger and a Large-Field-Of-View (LFOV) action camera which facilitated capturing high-resolution geo-tagged images in two epochs over the period of one year (i.e., May 2014 and May 2015). Note that due to the coarse accuracy of the on-board GPS receiver (e.g., +/- 5-10 m) the geo-tagged positions of the images were only used as initial values in the bundle block adjustment. Normal distances, signifying detected changes, varying from 20 cm to 4 m were identified between the two epochs. The accuracy of the co-registered surfaces was estimated by comparing non-active patches within the monitored area of interest. Since these non-active sub-areas are stationary, the computed normal distances should theoretically be close to zero. The quality control of the registration results showed that the average normal distance was approximately 4 cm, which is within the noise level of the reconstructed surfaces.

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