使用RGB-D掃描點雲進行室內3D幾何重建之自動模型之研究

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姓名

呂修鋒(Hsiu-Fung Lu) 查詢紙本館藏

畢業系所

光電科學與工程學系

論文名稱

使用RGB-D掃描點雲進行室內3D幾何重建之自動模型之研究
(Study of Automatic Model Generation for Indoor Geometric Reconstruction Using RGB-D Scanning)

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摘要(中)

本論文中，探討如何透過彩色相機拍攝的彩色影像，配合深度感測技術拍攝的深度影像生成點雲(Point Cloud)，藉此還原室內三維場景分布，並建立自動化室內模型重建流程。在深度感測技術方面，使用飛時測距(Time of Flight , ToF)進行距離資料的獲取，藉此計算空間中點雲座標，來表示室內各物件之位置，並透過點雲密度分布關係，濾除飛時測距誤差所產生的點雲雜訊點。接著透過判別彩色影像當中的特徵點，在一系列的掃描圖像當中，計算前後兩個畫面的相機運動關係，藉此重建出室內全場域點雲分布圖。
在自動化建立模型方面，利用邊界選取、區域成長和法向量的密度分類等技術，萃取出室內牆面點雲資訊，並利用最小平方法進行平面方程式的擬合，最後進行室內牆面的模型建立。透過深度學習的語義分割，將室內點雲進行物件名稱的標記，並依其名稱進行分類和圖形檔案格式輸出，完成自動化建立模型流程。

摘要(英)

In this thesis, we study to build up an auto-modeling calculation model for a precise3D indoor map based on point cloud generated by color cameras incorporated with depth sensor. In depth sensing, we adopt time of flight technology to catch depth information so that the 3D coordinates of the sensing points can be used to build up the 3D object. The point cloud density is applied to filter out the noise of the point cloud by the error of the time of flight measurement. Then through feature capturing between adjacent pictures, we can calculate the movement of the image capture so that we can build up the point cloud for the whole field. In auto-modeling, we adopt boundary selection, region growing, and density classification of the normal vector to extract the indoor point cloud information. Then we apply the least square method to generate plane equations, and the model of the surrounding walls can be generated. Finally, through the semantic segmentation of deep learning, the indoor point cloud is marked with the object name and is classified according to its name to form a graphic file format for auto-modeling.
Keywords: Depth sensing, Spatial point cloud, Point cloud reconstruction, Object classification, Semantic segmentation, Automated modeling

關鍵字(中)

★ 深度感測
★ 空間點雲
★ 點雲重建
★ 物件分類
★ 語義分割
★ 自動化建模

關鍵字(英)

★ Depth sensing
★ Spatial point cloud
★ Point cloud reconstruction
★ Object classification
★ Semantic segmentation
★ Automated modeling

論文目次

中文摘要 i
Abstract ii
致謝 iv
目錄 vi
圖目錄 x
表目錄 xiv
第一章序論 1
1-1 研究背景與動機 1
1-2 相關研究與回顧 3
1-3 論文架構說明 6
第二章基礎原理 7
2-1 引言 7
2-2 相機成像 7
2-2-1 針孔成像 8
2-2-2 相機座標與像素座標 9
2-2-3 世界座標與相機座標 11
2-3 區域成長 13
2-4 平均位移法 13
2-5 最小平方法 15
第三章自動化建立室內幾何模型 17
3-1 引言 17
3-2 自動化建模流程 18
3-3 室內全場域點雲建立 18
3-3-1 深度影像生成點雲 19
3-3-2 全場域點雲還原 22
3-4 室內幾何模型建模流程 23
3-4-1 二維點雲邊界選取提取部分牆面點雲 24
3-4-2 區域成長法採集牆面資訊 25
3-4-3 平均位移法分類法向量 29
3-4-4 區域成長法進行牆面獨立分類 32
3-4-5 最小平方法擬合牆面模型 33
3-4-6 牆面特徵萃取 34
3-5 二維影像語義分割 36
3-5-1 彩色影像做二維語義分割 37
3-5-2 依語義分割結果進行點雲標記 39
3-5-3 依點雲標記結果分離點雲物件與模型輸出 40
第四章自動化建立室內幾何模型誤差評估 43
4-1 自動化建模之模型誤差評估 43
4-1-1 掃描場景量測 43
4-1-2 模型誤差評估 44
4-1-3 長度誤差分析 45
4-1-4 角度誤差分析 46
4-2 平面方程式擬合誤差評估 47
4-3 修正誤差後掃描結果 49
4-4 新景掃描結果 51
第五章結論與建議 54
參考文獻 56
中英文名詞對照 61
附錄A 飛時測距 64
附錄B 旋轉矩陣 68
附錄C 失真 70
附錄D 相機參數獲取 74
附錄E 特徵點 75
附錄F 特徵點判斷 77
附錄G 特徵點描述與匹配 81
附錄H 相機運動計算 83
附錄I 點雲降躁 87
附錄J 法向量估計 90
附錄K 3D模型檔 93

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指導教授

楊宗勳孫慶成(Tsung-Hsun Yang Ching-Cherng Sun)

審核日期

2019-10-4

推文