SIA OpenIR  > 光电信息技术研究室
一种板型物体混叠场景的快速分割算法
Alternative TitleA Fast Segmenting Method for Scenes with Stacked Plate-Shaped Objects
鲁荣荣1,2,3,4,5; 朱枫1,2,4,5; 吴清潇1,2,4,5; 崔芸阁1,2,3,4,5; 孔研自1,2,3,4,5; 陈佛计1,2,3,4,5
Department光电信息技术研究室
Source Publication光学学报
ISSN0253-2239
2019
Volume39Issue:4Pages:1-10
Indexed ByEI ; CSCD
EI Accession number20192006931102
CSCD IDCSCD:6488373
Contribution Rank1
Funding Organization国家自然科学基金(U1713216) ; 机器人学国家重点实验室自主课题(2017-Z21)
Keyword机器视觉 点云分割 深度图 随机采样一致性算法
Abstract针对多个板型物体混叠摆放的场景,本文提出了一种快速有效的分割方法。算法充分利用有序点云的特点,将自顶向下以及自底向上的分割策略有机结合。首先,根据三维点的空间位置和法向量信息,利用随机采样一致性算法从三维点云数据中快速提取平面点集。然后将提取的平面点集所对应的图像坐标映射为二值图像,通过连通区域分析将其分割为多个连通的平面区域。接着利用“胶水”算法对这些区域进行快速合并,并对较大的弱连接连通区域进行断裂修正,从而得到最终的分割结果。实验结果表明,本文提出的方法快速有效。与区域生长算法相比,本文方法分割结果更优,且算法效率大幅提升。
Other AbstractA fast and efficient segmentation algorithm is proposed for scenes in which multiple plate-shaped objects are placed in an overlapping manner. The algorithm makes full use of the characteristics of the ordered point cloud, and combines the top-down and bottom-up segmentation strategies. The Random Sample Consensus (RANSAC) algorithm is used to quickly extract the three-dimensional planar point set according to the spatial position and normal vector of the three-dimensional point from the three-dimensional point cloud. The image coordinates corresponding to the extracted planar point set are mapped into a binary image, and are divided into a plurality of connected planar regions by the connected region analysis. Then, the glue algorithm is used to quickly merge these regions, and the larger weakly connected regions are subjected to the fracture correction, so as to obtain the final segmentation result. The experimental results show that compared with the region growing algorithm, the proposed algorithm can obtain better segmentation results, and the algorithm efficiency is greatly improved.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/23802
Collection光电信息技术研究室
Corresponding Author朱枫
Affiliation1.中国科学院沈阳自动化研究所
2.中国科学院机器人与智能制造创新研究院
3.中国科学院大学
4.中国科学院光电信息处理重点实验室
5.辽宁省图像理解与视觉计算重点实验室
Recommended Citation
GB/T 7714
鲁荣荣,朱枫,吴清潇,等. 一种板型物体混叠场景的快速分割算法[J]. 光学学报,2019,39(4):1-10.
APA 鲁荣荣,朱枫,吴清潇,崔芸阁,孔研自,&陈佛计.(2019).一种板型物体混叠场景的快速分割算法.光学学报,39(4),1-10.
MLA 鲁荣荣,et al."一种板型物体混叠场景的快速分割算法".光学学报 39.4(2019):1-10.
Files in This Item: Download All
File Name/Size DocType Version Access License
一种板型物体混叠场景的快速分割算法.pd(1655KB)期刊论文作者接受稿开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[鲁荣荣]'s Articles
[朱枫]'s Articles
[吴清潇]'s Articles
Baidu academic
Similar articles in Baidu academic
[鲁荣荣]'s Articles
[朱枫]'s Articles
[吴清潇]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[鲁荣荣]'s Articles
[朱枫]'s Articles
[吴清潇]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 一种板型物体混叠场景的快速分割算法.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.