3D Reconstruction with Coronary Artery Based on Curve Descriptor and Projection Geometry-Constrained Vasculature Matching

This paper presents a novel method based on a curve descriptor and projection geometry constrained for vessel matching. First, an LM (Leveberg–Marquardt) algorithm is proposed to optimize the matrix of geometric transformation. Combining with parameter adjusting and the trust region method, the error between 3D reconstructed vessel projection and the actual vessel can be minimized. Then, CBOCD (curvature and brightness order curve descriptor) is proposed to indicate the degree of the self-occlusion of blood vessels during angiography. Next, the error matrix constructed from the error of epipolar matching is used in point pairs matching of the vascular through dynamic programming. Finally, the recorded radius of vessels helps to construct ellipse cross-sections and samples on it to get a point set around the centerline and the point set is converted to mesh for reconstructing the surface of vessels. The validity and applicability of the proposed methods have been verified through experiments that result in the significant improvement of 3D reconstruction accuracy in terms of average back-projection errors. Simultaneously, due to precise point-pair matching, the smoothness of the reconstructed 3D coronary artery is guaranteed.

BUILDING ROOF VECTORIZATION WITH PPGNET

A challenge in data-based 3D building reconstruction is to find the exact edges of roof facet polygons. Although these edges are visible in orthoimages, convolution-based edge detectors also find many other edges due to shadows and textures. In this feasibility study, we apply machine learning to solve this problem. Recently, neural networks have been introduced that not only detect edges in images, but also assemble the edges into a graph. When applied to roof reconstruction, the vertices of the dual graph represent the roof facets. In this study, we apply the Point-Pair Graph Network (PPGNet) to orthoimages of buildings and evaluate the quality of the detected edge graphs. The initial results are promising, and adjusting the training parameters further improved the results. However, in some cases, additional work, such as post-processing, is required to reliably find all vertices.

CIMON: Towards High-quality Hash Codes

Recently, hashing is widely used in approximate nearest neighbor search for its storage and computational efficiency. Most of the unsupervised hashing methods learn to map images into semantic similarity-preserving hash codes by constructing local semantic similarity structure from the pre-trained model as the guiding information, i.e., treating each point pair similar if their distance is small in feature space. However, due to the inefficient representation ability of the pre-trained model, many false positives and negatives in local semantic similarity will be introduced and lead to error propagation during the hash code learning. Moreover, few of the methods consider the robustness of models, which will cause instability of hash codes to disturbance. In this paper, we propose a new method named Comprehensive sImilarity Mining and cOnsistency learNing (CIMON). First, we use global refinement and similarity statistical distribution to obtain reliable and smooth guidance. Second, both semantic and contrastive consistency learning are introduced to derive both disturb-invariant and discriminative hash codes. Extensive experiments on several benchmark datasets show that the proposed method outperforms a wide range of state-of-the-art methods in both retrieval performance and robustness.

Research on Point Cloud Registering Method of Tunneling Roadway Based on 3D NDT-ICP Algorithm

In order to meet the needs of intelligent perception of the driving environment, a point cloud registering method based on 3D NDT-ICP algorithm is proposed to improve the modeling accuracy of tunneling roadway environments. Firstly, Voxel Grid filtering method is used to preprocess the point cloud of tunneling roadways to maintain the overall structure of the point cloud and reduce the number of point clouds. After that, the 3D NDT algorithm is used to solve the coordinate transformation of the point cloud in the tunneling roadway and the cell resolution of the algorithm is optimized according to the environmental features of the tunneling roadway. Finally, a kd-tree is introduced into the ICP algorithm for point pair search, and the Gauss–Newton method is used to optimize the solution of nonlinear objective function of the algorithm to complete accurate registering of tunneling roadway point clouds. The experimental results show that the 3D NDT algorithm can meet the resolution requirement when the cell resolution is set to 0.5 m under the condition of processing the point cloud with the environmental features of tunneling roadways. At this time, the registering time is the shortest. Compared with the NDT algorithm, ICP algorithm and traditional 3D NDT-ICP algorithm, the registering speed of the 3D NDT-ICP algorithm proposed in this paper is obviously improved and the registering error is smaller.

PPTFH: Robust Local Descriptor Based on Point-Pair Transformation Features for 3D Surface Matching

Three-dimensional feature description for a local surface is a core technology in 3D computer vision. Existing descriptors perform poorly in terms of distinctiveness and robustness owing to noise, mesh decimation, clutter, and occlusion in real scenes. In this paper, we propose a 3D local surface descriptor using point-pair transformation feature histograms (PPTFHs) to address these challenges. The generation process of the PPTFH descriptor consists of three steps. First, a simple but efficient strategy is introduced to partition the point-pair sets on the local surface into four subsets. Then, three feature histograms corresponding to each point-pair subset are generated by the point-pair transformation features, which are computed using the proposed Darboux frame. Finally, all the feature histograms of the four subsets are concatenated into a vector to generate the overall PPTFH descriptor. The performance of the PPTFH descriptor is evaluated on several popular benchmark datasets, and the results demonstrate that the PPTFH descriptor achieves superior performance in terms of descriptiveness and robustness compared with state-of-the-art algorithms. The benefits of the PPTFH descriptor for 3D surface matching are demonstrated by the results obtained from five benchmark datasets.

Direct Kinematic Analysis of the Spatial Parallel Mechanism with 3-R(P)S Structure Based on the Point Pair Relationship

This paper demonstrates a novel geometric modeling and computational method of the family of spatial parallel mechanisms with 3-R(P)S structure for direct kinematic analysis based on the point pair relationship. The point pair relationship, which is derived from the framework of conformal geometric algebra (CGA), consists of the relationship between the point and the point pair and two point pairs. The first research is on the distance relationship between the point and the point pair. Secondly, the derivation of the distance relationship between two point pairs is based on the aforementioned result, which shows the mathematical homogeneity. Thirdly, two formulations for a point of the point pairs that satisfy the distance relationship between two point pairs are reduced. Fourthly, the point pair relationship is applied to solve the direct kinematic analysis of the spatial parallel mechanism with 3-R(P)S structure. Finally, four numerical examples are provided to verify the validity of the proposed algorithm. Overall, the proposed method can be generalized for the direct kinematics of a series of spatial parallel mechanisms with 3-R(P)S structure.

Intrinsic Quasi-Metrics

The point pair function $$p_G$$ p G defined in a domain $$G\subsetneq {\mathbb {R}}^n$$ G ⊊ R n is shown to be a quasi-metric, and its other properties are studied. For a convex domain $$G\subsetneq {\mathbb {R}}^n$$ G ⊊ R n , a new intrinsic quasi-metric called the function $$w_G$$ w G is introduced. Several sharp results are established for these two quasi-metrics, and their connection to the triangular ratio metric is studied.