基于VTK的室外场景三维重建

【作者】 宋小鹏；

【导师】 刘先林； 张爱武；

【作者基本信息】 首都师范大学 ， 地图学与地理信息系统， 2006， 硕士

【摘要】 三维激光扫描仪因其方便、易用和数据精度高等优点在测绘，文物保存，城市规划和数字娱乐等领域有广泛的应用。三维激光扫描仪获取的数据包含实测场景的距离信息所以又被称为深度数据(Range Data)或距离图像(Distance Image)。 由于激光扫描的原理和特点，对室外实际场景扫描将产生巨大的数据量。庞大的数据量增加了硬件的负担，也增加处理的难度。近年来，由于硬件价格的下降，和并行算法的应用领域的推广，所以利用深度数据来快速、高效实现数据处理与场景建模一直是计算机视觉和图形学领域的十分重要的前沿课题，是全世界很多研究机构普遍关注的研究热点和难点。 在3D处理领域，OpenGL作为一个高效和相对易用的3D引擎，已经被大多数的硬件和操作系统所支持，在实际中得到了广泛应用和普及。但随着3D模型和科学计算可视化在实际中的广泛应用以及在程序开发中面向对象思想的普及，迫切需要一个简单易用、面向对象且便于移植和功能扩展的3D图形和可视化功能模块库，VTK(Visualizaton Toolkit)应运而生。VTK是严格按照面向对象思想而设计，并且为了兼顾编译(Compiled)编程语言的高效性和解释(interpreted)编程语言的简单性，VTK采用内核一解释的多层设计模式。其内核采用编译语言开发，在内核之上提供了面向解释语言的接口层。考虑兼容性和便于维护与升级，VTK采用标准编程语言开发，并对常用的可视化算法进行封装，在使用中，用户只须设置接口参数即可以使用算法。 本文作为北京市重点项目“北京市三维空间信息综合服务系统”和北京市学术创新团队计划“三维信息获取与应用处理技术”的重要组成部分，在研究VTK系统结构、处理算法和运行机制的基础上，研究了数据预处理、深度图像平面特征提取、多幅深度图像的配准、深度图像的三角网格剖分和简化等相关的算法，并利用VTK实施和改进了相关算法，得到了真三维几何模型，建立了基于VTK的三维重建软件原型系统，并通过实验，验证了系统的鲁棒性，充分展现了VTK作为一个全新的3D引擎的优势。本文创新性主要贡献如下： (1)研究了VTK的系统结构、处理算法和运行机制，并探索了VTK在深度图像建模方面的优势和不足。更多还原

【Abstract】 The method of using 3D Laser Scanner to get the geometric data of actual outdoor scenes has broad application in surveying and mapping, heritage preservation,urban planning and extensive areas of digital entertainment because of its some advantages include convenience,user-friendly and its higher data accuracy and so on.These data that obtained by the Laser Scanner is called Depth Data(Range Data) or Distance Image because they contain the distance information between from the scanner to the scenes.As the the principle and characteristic of the Laser Scanner, the data that acquired by Scanner to the outdoor scenes usually has a huge volume of data, they increased not only the burden of computer hardware but also the difficulty of processing. In recent years, due to the decline of hardware prices and the promotion of applications of parallel algorithms, these fields of how to achieve rapid and efficient processing on Depth Data and 3D scene reconstructing using these data are a hot and difficult topic to study. Many research institutions around the world have been a lot of researches in this field, and many achievements have been applied in practice.In 3D processing field, OpenGL is a has been supported by most hardware and operating system because it is relatively easy to use and highly efficient,so it is used widely and popular in practice. However,with 3D models and scientific computing visualization in practice in a wide range of application and the prevalence of Object-oriented programming,a new 3D engineer that use easily and meet the criterion of OO was urgently needed,what’s more,this new 3D engineer must be portable, compatibility, independent of any hardware and operating system and leave some interfaces to expand it’s functions. Under this kind of demand, VTK (Visualization Toolkit) emerged as the times require.VTK is designed strictly according to the object-oriented theory,therefore it has the all characteristics including inheritance, polymorphism and encapsulation and so on. And in order to give dual attention to the effectiveness of the Compiled programming language and the simplicity of the interpreted programming language,VTK adopts the multilayered更多还原