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1 第 27 卷第 8 期计算机辅助设计与图形学学报 Vol. 27 No 年 8 月 Journal of Computer-Aided Design & Computer Graphics Aug 点云驱动的计算机图形学综述伍龙华, 黄 * 惠 ( 中国科学院深圳先进技术研究院深圳 ) (hui.huang@siat.ac.cn) : 点云是分布在三维空间中的离散点集, 也是对物体表面信息的离散采样. 三维扫描技术的迅速发展使得点云数据的获取更加简单方便, 而点云驱动的计算机图形学在逆向工程数字城市文物保护智能机器人等领域日益彰显其广阔的应用前景. 文中简要介绍了近年来计算机图形学围绕点云在数据获取采样处理渲染表示和几何建模 4 个方面的主要工作, 展示了这一新兴领域的研究现状和发展趋势, 并探讨了未来有潜力的研究方向. : 点云 ; 三维扫描 ; 配准 ; 骨架提取 ; 渲染 ; 曲面重建 ; 动态建模 :TP391 Survey on Points-Driven Computer Graphics Wu Longhua and Huang Hui * (Shenzhen Institutes of Advanced Technology (SIAT), Shenzhen ) Abstract: A point cloud is a set of discrete points distributed in 3D space. The development of 3D scanning technology makes it possible to rapidly capture and sample the shapes of objects as point clouds. Points-driven computer graphics is hence now widely applied in many fields, such as reverse engineering, digital city, cultural relics preservation and robotics. This survey briefly introduces the recent computer graphics research based on point clouds in four aspects: capturing, resampling, representation and reconstruction. It provides the readers a big picture on this new rising field, showing state-of-the-arts, study trends and potential research directions in the future. Key words: point clouds; 3D scanning; registration; skeleton extraction; rendering; surface reconstruction; dynamic modeling,,.,, ( ) ,,.,,,.,.,., ; 基金项目 ( , ); (2013AA01A604); (CXB A); (JCYJ ). 伍龙华 (1989),,, ; 黄惠 (1977),,,,,,.

1342 计算机辅助设计与图形学学报第 27 卷., Hololens,.,., CAD 3D.,,., 1,,. 1 1 点云获取,,. 2. 3 : [1] [2]. (),, ( Kinect)..,,.,.,,,. 1.1 点云配准,,.

2 1342 计算机辅助设计与图形学学报第 27 卷., Hololens,.,., CAD 3D.,,., 1,,. 1 1 点云获取,, : [1] [2]. (),, ( Kinect)..,,.,.,,,. 1.1 点云配准,,. Besl [3] (iterative closest point, ICP), Rt, q 2 min pi R i t. i, p i q i. t R,. ICP,. ICP [4]. ICP [5] Lp, p 0,1, ICP,. 2, FPFH [6], NARF [7], VFH [8], RoPS [9], 2, ICP. Dror [10]. 3, 4 (4PCS)., (),. Brown [11], ICP,, [12]. [13],,, [14]

3 第 8 期, 等 : [15] (coherent point drift, CPD), (Gaussian mixture model, GMM), (expectation maximization, EM),,. 1.2 智能扫描,,., Connolly [17] (next best view, NBV),,. NBV, [18], NBV. [19], NBV.,. Wu [20] 2,. (),.,,.,,. NBV,..,,,.,,. Yan [21] 3.,,,.,, 2 a. b. c. d. e. 3

4 1344 计算机辅助设计与图形学学报第 27 卷,. 2 点云处理,,,.,, ().,. 2.1 法向估算., (), ( ). ( 3.2 )( 4.1 ) ( 5.1 )., ;. [22],. [23], [24].Huang [25].,,.,, ;,.,,.,. 2.2 点云去噪,., [26-27](moving least square, MLS). 2,, ; MLS. MLS ; MLS,. Lipman [28] (local optimization procedure, LOP). MLS, L 1, ;,. 3 P { p j } j J, X 3 { x i } ii, k argmin x p x p X i j i j k k k x x x x ii j J i i i i i (1) ii\ i re r 2 / h/4 2. (1),, L 1, 2 ;, r 1/3r,. h,,,., P C 2 S, i LOP S O( h 2 ). Huang [25] (weighted LOP, WLOP) LOP., LOP r, r r,. WLOP 2 1 k k v p p jj j j j j xi xi, LOP ii\ i. ;. 4, LOP, WLOP. Preiner [29] L 1 (continuous LOP, CLOP), WLOP 7,. WLOP, GMM, GMM., GMM

第 8 期, 等 : 1345 EM, WLOP. Step2.,. Sterp3., Step1., ;. 3 点云表示 a. b.

5 第 8 期, 等 : 1345 EM, WLOP. Step2.,. Sterp3., Step1., ;. 3 点云表示 a. b. LOP() c. LOP() d. WLOP 4 LOP WLOP 2.3 特征增强,. [23] 5 (edge-aware resampling, EAR). EAR 2.,., WLOP,,,.,. : Step1.,,. a. b. () c. d. 5.,,,.,.,.,,,. 3.1 点云渲染 Alexa [27],. Amenta [30] (surfels).,. (splatting),. (elliptical weighted average splatting) [31], Heinzle [32],. [33],, 4~10,., Dachsbacher [34] ; Weyric [35], split. Katz [36],.,,,.,

$,. Wei [41] 15,,. L 1 - [42]. WLOP,. WLOP, k argmin x p x p R X ; X ii jj i j i j, L 1, ;,,. R X xi xi i ii ii\ i ixi xi i,. i x i,.,.,.,. ROSA, L 1-6,. a. b. c. L 1-6 L 1-4 点云重构 4.1 静态建模,,.$

6 1346 计算机辅助设计与图形学学报第 27 卷,. 3.2 骨架提取.,.,. Tagliascchi [37], (rotational symmetry axis, ROSA)., (). Cao [38],,,,.., Natali [39] Reeb, (point cloud graph, PCG).,,., Livny [40] (branch-structure graph, BSG), BSG, BSG,, 2~3.,. Wei [41] 15,,. L 1 - [42]. WLOP,. WLOP, k argmin x p x p R X ; X ii jj i j i j, L 1, ;,,. R X xi xi i ii ii\ i ixi xi i,. i x i,.,.,.,. ROSA, L 1-6,. a. b. c. L 1-6 L 1-4 点云重构 4.1 静态建模,,. 20, [43],, ,.,[44-46] Delaunay,, (cocone),. Delaunay () [47] ; [48].,.

7 第 8 期, 等 : 1347,. MLS., Guennebaud [49]. [50] MLS ( ),., MLS,. Ohtake [51] (multi-level partition of unity, MPU),,,,. MLS, MPU. [52] MPU,,. [53][22],, (radial basis function, RBF), RBF.. Süßmuth [54] RBF ;,. Kazhdan [55], χ ( 1, 0), V, χ V. (marching cubes). Zhou [56], GPU, CPU, 2., χ,., [57],,, ( I ) V.,.,,., ( ). Sharf [58],..,,,. Yin [59], Morfit 7. 2,. [58], Morfit. L 1 -, 5,. NURBS,.,. 7 Morfit 4.1.2,,

,,,.,,.,,.,. 9, Nan [70] SmartBox,. SmartBox,. () ( SmartBox ) SmartBox.

8 1348 计算机辅助设计与图形学学报第 27 卷.,. Izadi [60] Kinect Fusion, Kinect. ICP,. ; 0,., GPU,,., ;,. [61-62], CPU-GPU,.,. [63-65],,, 8.,,. Chen [66]. [67]. a. b [68],..,,. Zheng [69].,,,.,,.,,.,. 9, Nan [70] SmartBox,. SmartBox,. () ( SmartBox ) SmartBox. [70-71] [72] ( ), Arikan [73],. ;,. Li [74] 2. (),,, ;,. Poullis [75], LiDAR.,. LiDAR, Zhou [76-77] [78]

第 8 期, 等 : 1349 9 LiDAR SmartBox 2.5,, ;,. 4.2 动态建模, 2.,.,,., Mitra [79],,.,., Sharf [80],..,.,. Wand [81],, ;,.

9 第 8 期, 等 : LiDAR SmartBox 2.5,, ;,. 4.2 动态建模, 2.,.,,., Mitra [79],,.,., Sharf [80],..,.,. Wand [81],, ;,.. [82], Mitra [79],,.,.,,.,,,. [14].,,.,, ;., (BlendShape), BlendShape. BlendShape,. Weise [83] BlendShape., Kinect,. Li [84], EM, PCA. [85]

10 1350 计算机辅助设计与图形学学报第 27 卷 GPU. GPU,,.,,. [85], [14],,. 5 总结展望 4.,,,.,, Artec Studio.,., [86],., 3D MAX, Blender ; RenderMan.,,., ;,,., [41,61-62,87-88].,, [87,89],.,,,.,, [90],, 10 [91]. a. b. c. 10 参考文献 (References): [1] Rusinkiewicz S, Hall-Holt O, Levoy M. Real-time 3D model acquisition[j]. ACM Transactions on Graphics. 2002, 21(3): Article No. 438 [2] Kolb A, Barth E, Koch R, et al. Time-of-flight sensors in computer graphics[c] // Proceedings of the Eurographics(stateof-the-art report). Aire-la-Ville: Eurographics Association Press, 2009: [3] Besl P J, Mckay N D. A method for registration of 3-D shapes[j]. IEEE Transactions on Pattern Analysis and Machine Intelligence. 1992, 14(2): [4] Rusinkiewicz S, Levoy M. Efficient variants of the ICP algorithm[c] //Proceedings of International Conference on 3-D Digital Imaging and Modeling. Los Alamitos: IEEE Computer Society Press, 2001: [5] Bouaziz S, Tagliasacchi A, Pauly M. Sparse Iterative Closest Point[J]. Computer Graphics Forum. 2013, 32(5): [6] Rusu R B, Blodow N, Beetz M. Fast point feature fistograms (FPFH) for 3D registration[c] //Proceedings of IEEE International Conference on Robotics and Automation (ICRA). Los Alamitos: IEEE Computer Society Press: IEEE, 2009: [7] Steder B, Rusu R B, Konolige K, et al. Point feature extraction on 3D range scans taking into account object boundaries[c] //Proceedings of International Conference on Robotics and Automation. Los Alamitos: IEEE Computer Society Press, 2011: [8] Rusu R B, Bradski G, Thibaux R, et al. Fast 3D recognition

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2 3. 1,,,.,., CAD,,,. : 1) :, 1,,. ; 2) :,, ; 3) :,; 4) : Fig. 1 Flowchart of generation and application of 3D2digital2building 2 :.. 3 : 1) :,

2 3. 1,,,.,., CAD,,,. : 1) :, 1,,. ; 2) :,, ; 3) :,; 4) : Fig. 1 Flowchart of generation and application of 3D2digital2building 2 :.. 3 : 1) :, 3 1 Vol. 3. 1 2008 2 CAA I Transactions on Intelligent Systems Feb. 2008, (,210093) :.,; 3., 3. :; ; ; ; : TP391 :A :167324785 (2008) 0120001208 A system f or automatic generation of 3D building models