【摘要】 针对三维扫描设备在复杂环境物体建模时容易产生大量点云空洞的问题，提出了一种基于垂直切片的点云空洞补全算法，即对滤波处理后的点云进行垂直切片与三维信息分离处理，提取出易于处理的二维点集信息，通过二维曲线补全算法补全二维空洞，并结合三维信息分离阶段的第三维信息进行升维处理，再采用体素滤波的三维栅格大小对补全点云进行密度重建，达到与非补全点云相同的密度信息。点云测试试验结果表明，原始点云空洞能够被成功补全。与其他算法相比，其平均耗时和补全速度均最优，补全效果良好，在应对大型点云中的空洞问题时能够达到快速补全与密度重建的目的。更多还原

【Abstract】 Aiming at the problem that 3D scanning equipment is prone to produce a large number of point cloud holes when modeling objects in complex environments, a point cloud hole completion algorithm based on vertical slicing is proposed, i.e., the point cloud after filtering processing is processed by vertical slicing and 3D information separation to extract the easy-to-process 2D point set information, and the 2D curve completion algorithm completes the 2D voids, and the 3D information separation stage is combined with the third dimensional information for up-dimensional processing, and then the 3D raster size of voxel filtering is used to reconstruct the density of the completed point cloud to achieve the same density information as the non-completed point cloud. The experimental results of point cloud tests show that the original point cloud voids can be successfully completed. Compared with other algorithms, its average time consumption and completion speed are optimal, and the completion effect is good, which can achieve fast completion and density reconstruction when dealing with the cavity problem in large point clouds.更多还原