Rock discontinuities control rock mechanical behaviors and significantly influence the stability of rock masses.However,existing discontinuity mapping algorithms are susceptible to noise,and the calculation results ca...Rock discontinuities control rock mechanical behaviors and significantly influence the stability of rock masses.However,existing discontinuity mapping algorithms are susceptible to noise,and the calculation results cannot be fed back to users timely.To address this issue,we proposed a human-machine interaction(HMI)method for discontinuity mapping.Users can help the algorithm identify the noise and make real-time result judgments and parameter adjustments.For this,a regular cube was selected to illustrate the workflows:(1)point cloud was acquired using remote sensing;(2)the HMI method was employed to select reference points and angle thresholds to detect group discontinuity;(3)individual discontinuities were extracted from the group discontinuity using a density-based cluster algorithm;and(4)the orientation of each discontinuity was measured based on a plane fitting algorithm.The method was applied to a well-studied highway road cut and a complex natural slope.The consistency of the computational results with field measurements demonstrates its good accuracy,and the average error in the dip direction and dip angle for both cases was less than 3.Finally,the computational time of the proposed method was compared with two other popular algorithms,and the reduction in computational time by tens of times proves its high computational efficiency.This method provides geologists and geological engineers with a new idea to map rapidly and accurately rock structures under large amounts of noises or unclear features.展开更多
Fish morphological phenotypes are important resources in artificial breeding,functional gene mapping,and population-based studies in aquaculture and ecology.Traditional morphological measurement of phenotypes is rathe...Fish morphological phenotypes are important resources in artificial breeding,functional gene mapping,and population-based studies in aquaculture and ecology.Traditional morphological measurement of phenotypes is rather expensive in terms of time and labor.More importantly,manual measurement is highly dependent on operational experience,which can lead to subjective phenotyping results.Here,we developed 3DPhenoFish software to extract fish morphological phenotypes from three-dimensional(3D)point cloud data.Algorithms for background elimination,coordinate normalization,image segmentation,key point recognition,and phenotype extraction were developed and integrated into an intuitive user interface.Furthermore,18 key points and traditional 2D morphological traits,along with 3D phenotypes,including area and volume,can be automatically obtained in a visualized manner.Intuitive fine-tuning of key points and customized definitions of phenotypes are also allowed in the software.Using 3DPhenoFish,we performed high-throughput phenotyping for four endemic Schizothoracinae species,including Schizopygopsis younghusbandi,Oxygymnocypris stewartii,Ptychobarbus dipogon,and Schizothorax oconnori.Results indicated that the morphological phenotypes from 3DPhenoFish exhibited high linear correlation(>0.94)with manual measurements and offered informative traits to discriminate samples of different species and even for different populations of the same species.In summary,we developed an efficient,accurate,and customizable tool,3DPhenoFish,to extract morphological phenotypes from point cloud data,which should help overcome traditional challenges in manual measurements.3DPhenoFish can be used for research on morphological phenotypes in fish,including functional gene mapping,artificial selection,and conservation studies.3DPhenoFish is an open-source software and can be downloaded for free at https://github.com/lyh24k/3DPhenoFish/tree/master.展开更多
Gobi spans a large area of China,surpassing the combined expanse of mobile dunes and semi-fixed dunes.Its presence significantly influences the movement of sand and dust.However,the complex origins and diverse materia...Gobi spans a large area of China,surpassing the combined expanse of mobile dunes and semi-fixed dunes.Its presence significantly influences the movement of sand and dust.However,the complex origins and diverse materials constituting the Gobi result in notable differences in saltation processes across various Gobi surfaces.It is challenging to describe these processes according to a uniform morphology.Therefore,it becomes imperative to articulate surface characteristics through parameters such as the three-dimensional(3D)size and shape of gravel.Collecting morphology information for Gobi gravels is essential for studying its genesis and sand saltation.To enhance the efficiency and information yield of gravel parameter measurements,this study conducted field experiments in the Gobi region across Dunhuang City,Guazhou County,and Yumen City(administrated by Jiuquan City),Gansu Province,China in March 2023.A research framework and methodology for measuring 3D parameters of gravel using point cloud were developed,alongside improved calculation formulas for 3D parameters including gravel grain size,volume,flatness,roundness,sphericity,and equivalent grain size.Leveraging multi-view geometry technology for 3D reconstruction allowed for establishing an optimal data acquisition scheme characterized by high point cloud reconstruction efficiency and clear quality.Additionally,the proposed methodology incorporated point cloud clustering,segmentation,and filtering techniques to isolate individual gravel point clouds.Advanced point cloud algorithms,including the Oriented Bounding Box(OBB),point cloud slicing method,and point cloud triangulation,were then deployed to calculate the 3D parameters of individual gravels.These systematic processes allow precise and detailed characterization of individual gravels.For gravel grain size and volume,the correlation coefficients between point cloud and manual measurements all exceeded 0.9000,confirming the feasibility of the proposed methodology for measuring 3D parameters of individual gravels.The proposed workflow yields accurate calculations of relevant parameters for Gobi gravels,providing essential data support for subsequent studies on Gobi environments.展开更多
The spatial distribution of discontinuities and the size of rock blocks are the key indicators for rock mass quality evaluation and rockfall risk assessment.Traditional manual measurement is often dangerous or unreach...The spatial distribution of discontinuities and the size of rock blocks are the key indicators for rock mass quality evaluation and rockfall risk assessment.Traditional manual measurement is often dangerous or unreachable at some high-steep rock slopes.In contrast,unmanned aerial vehicle(UAV)photogrammetry is not limited by terrain conditions,and can efficiently collect high-precision three-dimensional(3D)point clouds of rock masses through all-round and multiangle photography for rock mass characterization.In this paper,a new method based on a 3D point cloud is proposed for discontinuity identification and refined rock block modeling.The method is based on four steps:(1)Establish a point cloud spatial topology,and calculate the point cloud normal vector and average point spacing based on several machine learning algorithms;(2)Extract discontinuities using the density-based spatial clustering of applications with noise(DBSCAN)algorithm and fit the discontinuity plane by combining principal component analysis(PCA)with the natural breaks(NB)method;(3)Propose a method of inserting points in the line segment to generate an embedded discontinuity point cloud;and(4)Adopt a Poisson reconstruction method for refined rock block modeling.The proposed method was applied to an outcrop of an ultrahigh steep rock slope and compared with the results of previous studies and manual surveys.The results show that the method can eliminate the influence of discontinuity undulations on the orientation measurement and describe the local concave-convex characteristics on the modeling of rock blocks.The calculation results are accurate and reliable,which can meet the practical requirements of engineering.展开更多
Recognizing discontinuities within rock masses is a critical aspect of rock engineering.The development of remote sensing technologies has significantly enhanced the quality and quantity of the point clouds collected ...Recognizing discontinuities within rock masses is a critical aspect of rock engineering.The development of remote sensing technologies has significantly enhanced the quality and quantity of the point clouds collected from rock outcrops.In response,we propose a workflow that balances accuracy and efficiency to extract discontinuities from massive point clouds.The proposed method employs voxel filtering to downsample point clouds,constructs a point cloud topology using K-d trees,utilizes principal component analysis to calculate the point cloud normals,and employs the pointwise clustering(PWC)algorithm to extract discontinuities from rock outcrop point clouds.This method provides information on the location and orientation(dip direction and dip angle)of the discontinuities,and the modified whale optimization algorithm(MWOA)is utilized to identify major discontinuity sets and their average orientations.Performance evaluations based on three real cases demonstrate that the proposed method significantly reduces computational time costs without sacrificing accuracy.In particular,the method yields more reasonable extraction results for discontinuities with certain undulations.The presented approach offers a novel tool for efficiently extracting discontinuities from large-scale point clouds.展开更多
A new object-oriented method has been developed for the extraction of Mars rocks from Mars rover data. It is based on a combination of Mars rover imagery and 3D point cloud data. First, Navcam or Pancam images taken b...A new object-oriented method has been developed for the extraction of Mars rocks from Mars rover data. It is based on a combination of Mars rover imagery and 3D point cloud data. First, Navcam or Pancam images taken by the Mars rovers are segmented into homogeneous objects with a mean-shift algorithm. Then, the objects in the segmented images are classified into small rock candidates, rock shadows, and large objects. Rock shadows and large objects are considered as the regions within which large rocks may exist. In these regions, large rock candidates are extracted through ground-plane fitting with the 3D point cloud data. Small and large rock candidates are combined and postprocessed to obtain the final rock extraction results. The shape properties of the rocks （angularity, circularity, width, height, and width-height ratio） have been calculated for subsequent ~eological studies.展开更多
Using the modified find some new exact solutions to Lie point symmetry groups and also get conservation laws, of the CK＇s direct method, we build the relationship between new solutions and old ones and the （3＋1）-d...Using the modified find some new exact solutions to Lie point symmetry groups and also get conservation laws, of the CK＇s direct method, we build the relationship between new solutions and old ones and the （3＋1）-dimensional potentiaial-YTSF equation. Baaed on the invariant group theory, Lie symmetries of the （3＋1）-dimensional potential-YTSF equation are obtained. We equation with the given Lie symmetry.展开更多
In this paper,a novel compression framework based on 3D point cloud data is proposed for telepresence,which consists of two parts.One is implemented to remove the spatial redundancy,i.e.,a robust Bayesian framework is...In this paper,a novel compression framework based on 3D point cloud data is proposed for telepresence,which consists of two parts.One is implemented to remove the spatial redundancy,i.e.,a robust Bayesian framework is designed to track the human motion and the 3D point cloud data of the human body is acquired by using the tracking 2D box.The other part is applied to remove the temporal redundancy of the 3D point cloud data.The temporal redundancy between point clouds is removed by using the motion vector,i.e.,the most similar cluster in the previous frame is found for the cluster in the current frame by comparing the cluster feature and the cluster in the current frame is replaced by the motion vector for compressing the current frame.The hrst,the B-SHOT(binary signatures of histograms orientation)descriptor is applied to represent the point feature for matching the corresponding point between two frames.The second,the K-mean algorithm is used to generate the cluster because there are a lot of unsuccessfully matched points in the current frame.The matching operation is exploited to find the corresponding clusters between the point cloud data of two frames.Finally,the cluster information in the current frame is replaced by the motion vector for compressing the current frame and the unsuccessfully matched clusters in the curren t and the motion vectors are transmit ted into the rem ote end.In order to reduce calculation time of the B-SHOT descriptor,we introduce an octree structure into the B-SHOT descriptor.In particular,in order to improve the robustness of the matching operation,we design the cluster feature to estimate the similarity bet ween two clusters.Experimen tai results have shown the bet ter performance of the proposed method due to the lower calculation time and the higher compression ratio.The proposed met hod achieves the compression ratio of 8.42 and the delay time of 1228 ms compared with the compression ratio of 5.99 and the delay time of 2163 ms in the octree-based compression method under conditions of similar distortion rate.展开更多
BIM(building information modelling)has gained wider acceptance in the A/E/C(architecture/engineering/construction)industry in the US and internationally.This paper presents current industry approaches of implementing ...BIM(building information modelling)has gained wider acceptance in the A/E/C(architecture/engineering/construction)industry in the US and internationally.This paper presents current industry approaches of implementing 3D point cloud data in BIM and VDC(virtual design and construction)applications during various stages of a project life cycle and the challenges associated with processing the huge amount of 3D point cloud data.Conversion from discrete 3D point cloud raster data to geometric/vector BIM data remains to be a labor-intensive process.The needs for intelligent geometric feature detection/reconstruction algorithms for automated point cloud processing and issues related to data management are discussed.This paper also presents an innovative approach for integrating 3D point cloud data with BIM to efficiently augment built environment design,construction and management.展开更多
Increasing development of accurate and efficient road three-dimensional(3D)modeling presents great opportunities to improve the data exchange and integration of building information modeling(BIM)models.3D modeling of ...Increasing development of accurate and efficient road three-dimensional(3D)modeling presents great opportunities to improve the data exchange and integration of building information modeling(BIM)models.3D modeling of road scenes is crucial for reference in asset management,construction,and maintenance.Light detection and ranging(Li DAR)technology is increasingly employed to generate high-quality point clouds for road inventory.In this paper,we specifically investigate the use of Li DAR data for road 3D modeling.The purpose of this review is to provide references about the existing work on the road 3D modeling based on Li DAR point clouds,critically discuss them,and provide challenges for further study.Besides,we introduce modeling standards for roads and discuss the components,types,and distinctions of various Li DAR measurement systems.Then,we review state-of-the-art methods and provide a detailed examination of road segmentation and feature extraction.Furthermore,we systematically introduce point cloud-based 3D modeling methods,namely,parametric modeling and surface reconstruction.Parameters and rules are used to define model components based on geometric and non-geometric information,whereas surface modeling is conducted through individual faces within its geometry.Finally,we discuss and summarize future research directions in this field.This review can assist researchers in enhancing existing approaches and developing new techniques for road modeling based on Li DAR point clouds.展开更多
Hole repair processing is an important part of point cloud data processing in airborne 3-dimensional(3D)laser scanning technology.Due to the fragmentation and irregularity of the surface morphology,when applying the 3...Hole repair processing is an important part of point cloud data processing in airborne 3-dimensional(3D)laser scanning technology.Due to the fragmentation and irregularity of the surface morphology,when applying the 3D laser scanning technology to mountain mapping,the conventional mathematical cloud-based point cloud hole repair method is not ideal in practical applications.In order to solve this problem,we propose to repair the valley and ridge line first,and then repair the point cloud hole.The main technical steps of the method include the following points:First,the valley and ridge feature lines are extracted by the GIS slope analysis method;Then,the valley and ridge line missing from the hole are repaired by the mathematical interpolation method,and the repaired results are edited and inserted to the original point cloud;Finally,the traditional repair method is used to repair the point cloud hole whose valley line and ridge line have been repaired.Three experiments were designed and implemented in the east bank of the Xiaobaini River to test the performance of the proposed method.The results showed that compared with the direct point cloud hole repair method in Geomagic Studio software,the average repair accuracy of the proposed method,in the 16 m buffer zone of valley line and ridge line,is increased from 56.31 cm to 31.49 cm.The repair performance is significantly improved.展开更多
This paper presents a method for hand gesture recognition based on 3D point cloud. Digital image processing technology is used in this research. Based on the 3D point from depth camera, the system firstly extracts som...This paper presents a method for hand gesture recognition based on 3D point cloud. Digital image processing technology is used in this research. Based on the 3D point from depth camera, the system firstly extracts some raw data of the hand. After the data segmentation and preprocessing, three kinds of appearance features are extracted, including the number of stretched fingers, the angles between fingers and the gesture region’s area distribution feature. Based on these features, the system implements the identification of the gestures by using decision tree method. The results of experiment demonstrate that the proposed method is pretty efficient to recognize common gestures with a high accuracy.展开更多
In this paper, we propose a motion planning system for bin picking using 3-D point cloud. The situation that the objects are put miscellaneously like the inside in a house is assumed. In the home, the equipment which ...In this paper, we propose a motion planning system for bin picking using 3-D point cloud. The situation that the objects are put miscellaneously like the inside in a house is assumed. In the home, the equipment which makes an object stand in line doesn’t exist. Therefore the motion planning system which considered a collision problem becomes important. In this paper, Information on the objects is measured by a laser range finder (LRF). The information is used as 3-D point cloud, and the objects are recognized by model-base. We propose search method of a grasping point for two-fingered robotic hand, and propose search method of a path to approach the grasping point without colliding with other objects.展开更多
Background Three-dimensional(3D)building models with unambiguous roof plane geometry parameters,roof structure units,and linked topology provide essential data for many applications related to human activities in urba...Background Three-dimensional(3D)building models with unambiguous roof plane geometry parameters,roof structure units,and linked topology provide essential data for many applications related to human activities in urban environments.The task of 3D reconstruction from point clouds is still in the development phase,especially the recognition and interpretation of roof topological structures.Methods This study proposes a novel visual perception-based approach to automatically decompose and reconstruct building point clouds into meaningful and simple parametric structures,while the associated mutual relationships between the roof plane geometry and roof structure units are expressed by a hierarchical topology tree.First,a roof plane extraction is performed by a multi-label graph cut energy optimization framework and a roof structure graph(RSG)model is then constructed to describe the roof topological geometry with common adjacency,symmetry,and convexity rules.Moreover,a progressive roof decomposition and refinement are performed,generating a hierarchical representation of the 3D roof structure models.Finally,a visual plane fitted residual or area constraint process is adopted to generate the RSG model with different levels of details.Results Two airborne laser scanning datasets with different point densities and roof styles were tested,and the performance evaluation metrics were obtained by International Society for Photogrammetry and Remote Sensing,achieving a correctness and accuracy of 97.7%and 0.29m,respectively.Conclusions The standardized assessment results demonstrate the effectiveness and robustness of the proposed approach,showing its ability to generate a variety of structural models,even with missing data.展开更多
Mining industrial areas with anthropogenic engineering structures are one of the most distinctive features of the real world.3D models of the real world have been increasingly popular with numerous applications,such a...Mining industrial areas with anthropogenic engineering structures are one of the most distinctive features of the real world.3D models of the real world have been increasingly popular with numerous applications,such as digital twins and smart factory management.In this study,3D models of mining engineering structures were built based on the CityGML standard.For collecting spatial data,the two most popular geospatial technologies,namely UAV-SfM and TLS were employed.The accuracy of the UAV survey was at the centimeter level,and it satisfied the absolute positional accuracy requirement of creat-ing all levels of detail(LoD)according to the CityGML standard.Therefore,the UAV-SfM point cloud dataset was used to build LoD 2 models.In addition,the comparison between the UAV-SfM and TLS sub-clouds of facades and roofs indicates that the UAV-SfM and TLS point clouds of these objects are highly consistent,therefore,point clouds with a higher level of detail and accuracy provided by the integration of UAV-SfM and TLS were used to build LoD 3 models.The resulting 3D CityGML models include 39 buildings at LoD 2,and two mine shafts with hoistrooms,headframes,and sheave wheels at LoD3.展开更多
This paper introduces the use of point cloud processing for extracting 3D rock structure and the 3DEC-related reconstruction of slope failure,based on a case study of the 2019 Pinglu rockfall.The basic processing proc...This paper introduces the use of point cloud processing for extracting 3D rock structure and the 3DEC-related reconstruction of slope failure,based on a case study of the 2019 Pinglu rockfall.The basic processing procedure involves:(1)computing the point normal for HSV-rendering of point cloud;(2)automatically clustering the discontinuity sets;(3)extracting the set-based point clouds;(4)estimating of set-based mean orientation,spacing,and persistence;(5)identifying the block-forming arrays of discontinuity sets for the assessment of stability.The effectiveness of our rock structure processing has been proved by 3D distinct element back analysis.The results show that Sf M modelling and rock structure computing provides enormous cost,time and safety incentives in standard engineering practice.展开更多
This paper focuses on the effective utilization of data augmentation techniques for 3Dlidar point clouds to enhance the performance of neural network models.These point clouds,which represent spatial information throu...This paper focuses on the effective utilization of data augmentation techniques for 3Dlidar point clouds to enhance the performance of neural network models.These point clouds,which represent spatial information through a collection of 3D coordinates,have found wide-ranging applications.Data augmentation has emerged as a potent solution to the challenges posed by limited labeled data and the need to enhance model generalization capabilities.Much of the existing research is devoted to crafting novel data augmentation methods specifically for 3D lidar point clouds.However,there has been a lack of focus on making the most of the numerous existing augmentation techniques.Addressing this deficiency,this research investigates the possibility of combining two fundamental data augmentation strategies.The paper introduces PolarMix andMix3D,two commonly employed augmentation techniques,and presents a new approach,named RandomFusion.Instead of using a fixed or predetermined combination of augmentation methods,RandomFusion randomly chooses one method from a pool of options for each instance or sample.This innovative data augmentation technique randomly augments each point in the point cloud with either PolarMix or Mix3D.The crux of this strategy is the random choice between PolarMix and Mix3Dfor the augmentation of each point within the point cloud data set.The results of the experiments conducted validate the efficacy of the RandomFusion strategy in enhancing the performance of neural network models for 3D lidar point cloud semantic segmentation tasks.This is achieved without compromising computational efficiency.By examining the potential of merging different augmentation techniques,the research contributes significantly to a more comprehensive understanding of how to utilize existing augmentation methods for 3D lidar point clouds.RandomFusion data augmentation technique offers a simple yet effective method to leverage the diversity of augmentation techniques and boost the robustness of models.The insights gained from this research can pave the way for future work aimed at developing more advanced and efficient data augmentation strategies for 3D lidar point cloud analysis.展开更多
This article describes a novel approach for enhancing the three-dimensional(3D)point cloud reconstruction for light field microscopy(LFM)using U-net architecture-based fully convolutional neural network(CNN).Since the...This article describes a novel approach for enhancing the three-dimensional(3D)point cloud reconstruction for light field microscopy(LFM)using U-net architecture-based fully convolutional neural network(CNN).Since the directional view of the LFM is limited,noise and artifacts make it difficult to reconstruct the exact shape of 3D point clouds.The existing methods suffer from these problems due to the self-occlusion of the model.This manuscript proposes a deep fusion learning(DL)method that combines a 3D CNN with a U-Net-based model as a feature extractor.The sub-aperture images obtained from the light field microscopy are aligned to form a light field data cube for preprocessing.A multi-stream 3D CNNs and U-net architecture are applied to obtain the depth feature fromthe directional sub-aperture LF data cube.For the enhancement of the depthmap,dual iteration-based weighted median filtering(WMF)is used to reduce surface noise and enhance the accuracy of the reconstruction.Generating a 3D point cloud involves combining two key elements:the enhanced depth map and the central view of the light field image.The proposed method is validated using synthesized Heidelberg Collaboratory for Image Processing(HCI)and real-world LFM datasets.The results are compared with different state-of-the-art methods.The structural similarity index(SSIM)gain for boxes,cotton,pillow,and pens are 0.9760,0.9806,0.9940,and 0.9907,respectively.Moreover,the discrete entropy(DE)value for LFM depth maps exhibited better performance than other existing methods.展开更多
In recent years,semantic segmentation on 3D point cloud data has attracted much attention.Unlike 2D images where pixels distribute regularly in the image domain,3D point clouds in non-Euclidean space are irregular and...In recent years,semantic segmentation on 3D point cloud data has attracted much attention.Unlike 2D images where pixels distribute regularly in the image domain,3D point clouds in non-Euclidean space are irregular and inherently sparse.Therefore,it is very difficult to extract long-range contexts and effectively aggregate local features for semantic segmentation in 3D point cloud space.Most current methods either focus on local feature aggregation or long-range context dependency,but fail to directly establish a global-local feature extractor to complete the point cloud semantic segmentation tasks.In this paper,we propose a Transformer-based stratified graph convolutional network(SGT-Net),which enlarges the effective receptive field and builds direct long-range dependency.Specifically,we first propose a novel dense-sparse sampling strategy that provides dense local vertices and sparse long-distance vertices for subsequent graph convolutional network(GCN).Secondly,we propose a multi-key self-attention mechanism based on the Transformer to further weight augmentation for crucial neighboring relationships and enlarge the effective receptive field.In addition,to further improve the efficiency of the network,we propose a similarity measurement module to determine whether the neighborhood near the center point is effective.We demonstrate the validity and superiority of our method on the S3DIS and ShapeNet datasets.Through ablation experiments and segmentation visualization,we verify that the SGT model can improve the performance of the point cloud semantic segmentation.展开更多
In view of the limitations of traditional measurement methods in the field of building information,such as complex operation,low timeliness and poor accuracy,a new way of combining three-dimensional scanning technolog...In view of the limitations of traditional measurement methods in the field of building information,such as complex operation,low timeliness and poor accuracy,a new way of combining three-dimensional scanning technology and BIM(Building Information Modeling)model was discussed.Focused on the efficient acquisition of building geometric information using the fast-developing 3D point cloud technology,an improved deep learning-based 3D point cloud recognition method was proposed.The method optimised the network structure based on RandLA-Net to adapt to the large-scale point cloud processing requirements,while the semantic and instance features of the point cloud were integrated to significantly improve the recognition accuracy and provide a precise basis for BIM model remodeling.In addition,a visual BIM model generation system was developed,which systematically transformed the point cloud recognition results into BIM component parameters,automatically constructed BIM models,and promoted the open sharing and secondary development of models.The research results not only effectively promote the automation process of converting 3D point cloud data to refined BIM models,but also provide important technical support for promoting building informatisation and accelerating the construction of smart cities,showing a wide range of application potential and practical value.展开更多
基金supported by the National Key R&D Program of China(No.2023YFC3081200)the National Natural Science Foundation of China(No.42077264)the Scientific Research Project of PowerChina Huadong Engineering Corporation Limited(HDEC-2022-0301).
文摘Rock discontinuities control rock mechanical behaviors and significantly influence the stability of rock masses.However,existing discontinuity mapping algorithms are susceptible to noise,and the calculation results cannot be fed back to users timely.To address this issue,we proposed a human-machine interaction(HMI)method for discontinuity mapping.Users can help the algorithm identify the noise and make real-time result judgments and parameter adjustments.For this,a regular cube was selected to illustrate the workflows:(1)point cloud was acquired using remote sensing;(2)the HMI method was employed to select reference points and angle thresholds to detect group discontinuity;(3)individual discontinuities were extracted from the group discontinuity using a density-based cluster algorithm;and(4)the orientation of each discontinuity was measured based on a plane fitting algorithm.The method was applied to a well-studied highway road cut and a complex natural slope.The consistency of the computational results with field measurements demonstrates its good accuracy,and the average error in the dip direction and dip angle for both cases was less than 3.Finally,the computational time of the proposed method was compared with two other popular algorithms,and the reduction in computational time by tens of times proves its high computational efficiency.This method provides geologists and geological engineers with a new idea to map rapidly and accurately rock structures under large amounts of noises or unclear features.
基金supported by the National Natural Science Foundation of China(32072980)Key Research and Development Projects in Tibet(XZ202001ZY0016N,XZ201902NB02,XZNKY-2019-C-053)。
文摘Fish morphological phenotypes are important resources in artificial breeding,functional gene mapping,and population-based studies in aquaculture and ecology.Traditional morphological measurement of phenotypes is rather expensive in terms of time and labor.More importantly,manual measurement is highly dependent on operational experience,which can lead to subjective phenotyping results.Here,we developed 3DPhenoFish software to extract fish morphological phenotypes from three-dimensional(3D)point cloud data.Algorithms for background elimination,coordinate normalization,image segmentation,key point recognition,and phenotype extraction were developed and integrated into an intuitive user interface.Furthermore,18 key points and traditional 2D morphological traits,along with 3D phenotypes,including area and volume,can be automatically obtained in a visualized manner.Intuitive fine-tuning of key points and customized definitions of phenotypes are also allowed in the software.Using 3DPhenoFish,we performed high-throughput phenotyping for four endemic Schizothoracinae species,including Schizopygopsis younghusbandi,Oxygymnocypris stewartii,Ptychobarbus dipogon,and Schizothorax oconnori.Results indicated that the morphological phenotypes from 3DPhenoFish exhibited high linear correlation(>0.94)with manual measurements and offered informative traits to discriminate samples of different species and even for different populations of the same species.In summary,we developed an efficient,accurate,and customizable tool,3DPhenoFish,to extract morphological phenotypes from point cloud data,which should help overcome traditional challenges in manual measurements.3DPhenoFish can be used for research on morphological phenotypes in fish,including functional gene mapping,artificial selection,and conservation studies.3DPhenoFish is an open-source software and can be downloaded for free at https://github.com/lyh24k/3DPhenoFish/tree/master.
基金funded by the National Natural Science Foundation of China(42071014).
文摘Gobi spans a large area of China,surpassing the combined expanse of mobile dunes and semi-fixed dunes.Its presence significantly influences the movement of sand and dust.However,the complex origins and diverse materials constituting the Gobi result in notable differences in saltation processes across various Gobi surfaces.It is challenging to describe these processes according to a uniform morphology.Therefore,it becomes imperative to articulate surface characteristics through parameters such as the three-dimensional(3D)size and shape of gravel.Collecting morphology information for Gobi gravels is essential for studying its genesis and sand saltation.To enhance the efficiency and information yield of gravel parameter measurements,this study conducted field experiments in the Gobi region across Dunhuang City,Guazhou County,and Yumen City(administrated by Jiuquan City),Gansu Province,China in March 2023.A research framework and methodology for measuring 3D parameters of gravel using point cloud were developed,alongside improved calculation formulas for 3D parameters including gravel grain size,volume,flatness,roundness,sphericity,and equivalent grain size.Leveraging multi-view geometry technology for 3D reconstruction allowed for establishing an optimal data acquisition scheme characterized by high point cloud reconstruction efficiency and clear quality.Additionally,the proposed methodology incorporated point cloud clustering,segmentation,and filtering techniques to isolate individual gravel point clouds.Advanced point cloud algorithms,including the Oriented Bounding Box(OBB),point cloud slicing method,and point cloud triangulation,were then deployed to calculate the 3D parameters of individual gravels.These systematic processes allow precise and detailed characterization of individual gravels.For gravel grain size and volume,the correlation coefficients between point cloud and manual measurements all exceeded 0.9000,confirming the feasibility of the proposed methodology for measuring 3D parameters of individual gravels.The proposed workflow yields accurate calculations of relevant parameters for Gobi gravels,providing essential data support for subsequent studies on Gobi environments.
基金supported by the National Natural Science Foundation of China(Grant Nos.41941017 and 42177139)Graduate Innovation Fund of Jilin University(Grant No.2024CX099)。
文摘The spatial distribution of discontinuities and the size of rock blocks are the key indicators for rock mass quality evaluation and rockfall risk assessment.Traditional manual measurement is often dangerous or unreachable at some high-steep rock slopes.In contrast,unmanned aerial vehicle(UAV)photogrammetry is not limited by terrain conditions,and can efficiently collect high-precision three-dimensional(3D)point clouds of rock masses through all-round and multiangle photography for rock mass characterization.In this paper,a new method based on a 3D point cloud is proposed for discontinuity identification and refined rock block modeling.The method is based on four steps:(1)Establish a point cloud spatial topology,and calculate the point cloud normal vector and average point spacing based on several machine learning algorithms;(2)Extract discontinuities using the density-based spatial clustering of applications with noise(DBSCAN)algorithm and fit the discontinuity plane by combining principal component analysis(PCA)with the natural breaks(NB)method;(3)Propose a method of inserting points in the line segment to generate an embedded discontinuity point cloud;and(4)Adopt a Poisson reconstruction method for refined rock block modeling.The proposed method was applied to an outcrop of an ultrahigh steep rock slope and compared with the results of previous studies and manual surveys.The results show that the method can eliminate the influence of discontinuity undulations on the orientation measurement and describe the local concave-convex characteristics on the modeling of rock blocks.The calculation results are accurate and reliable,which can meet the practical requirements of engineering.
基金supported by the National Natural Science Foundation of China(Grant No.42407232)the Sichuan Science and Technology Program(Grant No.2024NSFSC0826).
文摘Recognizing discontinuities within rock masses is a critical aspect of rock engineering.The development of remote sensing technologies has significantly enhanced the quality and quantity of the point clouds collected from rock outcrops.In response,we propose a workflow that balances accuracy and efficiency to extract discontinuities from massive point clouds.The proposed method employs voxel filtering to downsample point clouds,constructs a point cloud topology using K-d trees,utilizes principal component analysis to calculate the point cloud normals,and employs the pointwise clustering(PWC)algorithm to extract discontinuities from rock outcrop point clouds.This method provides information on the location and orientation(dip direction and dip angle)of the discontinuities,and the modified whale optimization algorithm(MWOA)is utilized to identify major discontinuity sets and their average orientations.Performance evaluations based on three real cases demonstrate that the proposed method significantly reduces computational time costs without sacrificing accuracy.In particular,the method yields more reasonable extraction results for discontinuities with certain undulations.The presented approach offers a novel tool for efficiently extracting discontinuities from large-scale point clouds.
基金supported by the National Natural Science Foundation of China(Nos.41171355and41002120)
文摘A new object-oriented method has been developed for the extraction of Mars rocks from Mars rover data. It is based on a combination of Mars rover imagery and 3D point cloud data. First, Navcam or Pancam images taken by the Mars rovers are segmented into homogeneous objects with a mean-shift algorithm. Then, the objects in the segmented images are classified into small rock candidates, rock shadows, and large objects. Rock shadows and large objects are considered as the regions within which large rocks may exist. In these regions, large rock candidates are extracted through ground-plane fitting with the 3D point cloud data. Small and large rock candidates are combined and postprocessed to obtain the final rock extraction results. The shape properties of the rocks （angularity, circularity, width, height, and width-height ratio） have been calculated for subsequent ~eological studies.
基金The project supported by the Natural Science Foundation of Shandong Province of China under Grant No. 2004zx16 tCorresponding author, E-maih zzlh100@163.com
文摘Using the modified find some new exact solutions to Lie point symmetry groups and also get conservation laws, of the CK＇s direct method, we build the relationship between new solutions and old ones and the （3＋1）-dimensional potentiaial-YTSF equation. Baaed on the invariant group theory, Lie symmetries of the （3＋1）-dimensional potential-YTSF equation are obtained. We equation with the given Lie symmetry.
基金This work was supported by National Nature Science Foundation of China(No.61811530281 and 61861136009)Guangdong Regional Joint Foundation(No.2019B1515120076)the Fundamental Research for the Central Universities.
文摘In this paper,a novel compression framework based on 3D point cloud data is proposed for telepresence,which consists of two parts.One is implemented to remove the spatial redundancy,i.e.,a robust Bayesian framework is designed to track the human motion and the 3D point cloud data of the human body is acquired by using the tracking 2D box.The other part is applied to remove the temporal redundancy of the 3D point cloud data.The temporal redundancy between point clouds is removed by using the motion vector,i.e.,the most similar cluster in the previous frame is found for the cluster in the current frame by comparing the cluster feature and the cluster in the current frame is replaced by the motion vector for compressing the current frame.The hrst,the B-SHOT(binary signatures of histograms orientation)descriptor is applied to represent the point feature for matching the corresponding point between two frames.The second,the K-mean algorithm is used to generate the cluster because there are a lot of unsuccessfully matched points in the current frame.The matching operation is exploited to find the corresponding clusters between the point cloud data of two frames.Finally,the cluster information in the current frame is replaced by the motion vector for compressing the current frame and the unsuccessfully matched clusters in the curren t and the motion vectors are transmit ted into the rem ote end.In order to reduce calculation time of the B-SHOT descriptor,we introduce an octree structure into the B-SHOT descriptor.In particular,in order to improve the robustness of the matching operation,we design the cluster feature to estimate the similarity bet ween two clusters.Experimen tai results have shown the bet ter performance of the proposed method due to the lower calculation time and the higher compression ratio.The proposed met hod achieves the compression ratio of 8.42 and the delay time of 1228 ms compared with the compression ratio of 5.99 and the delay time of 2163 ms in the octree-based compression method under conditions of similar distortion rate.
文摘BIM(building information modelling)has gained wider acceptance in the A/E/C(architecture/engineering/construction)industry in the US and internationally.This paper presents current industry approaches of implementing 3D point cloud data in BIM and VDC(virtual design and construction)applications during various stages of a project life cycle and the challenges associated with processing the huge amount of 3D point cloud data.Conversion from discrete 3D point cloud raster data to geometric/vector BIM data remains to be a labor-intensive process.The needs for intelligent geometric feature detection/reconstruction algorithms for automated point cloud processing and issues related to data management are discussed.This paper also presents an innovative approach for integrating 3D point cloud data with BIM to efficiently augment built environment design,construction and management.
基金supported by the projects found by the Jiangsu Transportation Science and Technology Project under Grants 2020Y191(1)Postgraduate Research&Practice Innovation Program of Jiangsu Province under Grants KYCX23_0294。
文摘Increasing development of accurate and efficient road three-dimensional(3D)modeling presents great opportunities to improve the data exchange and integration of building information modeling(BIM)models.3D modeling of road scenes is crucial for reference in asset management,construction,and maintenance.Light detection and ranging(Li DAR)technology is increasingly employed to generate high-quality point clouds for road inventory.In this paper,we specifically investigate the use of Li DAR data for road 3D modeling.The purpose of this review is to provide references about the existing work on the road 3D modeling based on Li DAR point clouds,critically discuss them,and provide challenges for further study.Besides,we introduce modeling standards for roads and discuss the components,types,and distinctions of various Li DAR measurement systems.Then,we review state-of-the-art methods and provide a detailed examination of road segmentation and feature extraction.Furthermore,we systematically introduce point cloud-based 3D modeling methods,namely,parametric modeling and surface reconstruction.Parameters and rules are used to define model components based on geometric and non-geometric information,whereas surface modeling is conducted through individual faces within its geometry.Finally,we discuss and summarize future research directions in this field.This review can assist researchers in enhancing existing approaches and developing new techniques for road modeling based on Li DAR point clouds.
基金National Natural Science Foundation of China(Nos.41861054,41371423,61966010)National Key R&D Program of China(No.2016YFB0502105)。
文摘Hole repair processing is an important part of point cloud data processing in airborne 3-dimensional(3D)laser scanning technology.Due to the fragmentation and irregularity of the surface morphology,when applying the 3D laser scanning technology to mountain mapping,the conventional mathematical cloud-based point cloud hole repair method is not ideal in practical applications.In order to solve this problem,we propose to repair the valley and ridge line first,and then repair the point cloud hole.The main technical steps of the method include the following points:First,the valley and ridge feature lines are extracted by the GIS slope analysis method;Then,the valley and ridge line missing from the hole are repaired by the mathematical interpolation method,and the repaired results are edited and inserted to the original point cloud;Finally,the traditional repair method is used to repair the point cloud hole whose valley line and ridge line have been repaired.Three experiments were designed and implemented in the east bank of the Xiaobaini River to test the performance of the proposed method.The results showed that compared with the direct point cloud hole repair method in Geomagic Studio software,the average repair accuracy of the proposed method,in the 16 m buffer zone of valley line and ridge line,is increased from 56.31 cm to 31.49 cm.The repair performance is significantly improved.
文摘This paper presents a method for hand gesture recognition based on 3D point cloud. Digital image processing technology is used in this research. Based on the 3D point from depth camera, the system firstly extracts some raw data of the hand. After the data segmentation and preprocessing, three kinds of appearance features are extracted, including the number of stretched fingers, the angles between fingers and the gesture region’s area distribution feature. Based on these features, the system implements the identification of the gestures by using decision tree method. The results of experiment demonstrate that the proposed method is pretty efficient to recognize common gestures with a high accuracy.
文摘In this paper, we propose a motion planning system for bin picking using 3-D point cloud. The situation that the objects are put miscellaneously like the inside in a house is assumed. In the home, the equipment which makes an object stand in line doesn’t exist. Therefore the motion planning system which considered a collision problem becomes important. In this paper, Information on the objects is measured by a laser range finder (LRF). The information is used as 3-D point cloud, and the objects are recognized by model-base. We propose search method of a grasping point for two-fingered robotic hand, and propose search method of a path to approach the grasping point without colliding with other objects.
基金Supported by the National Natural Science Foundation of China(41901405,41725005,41531177)and the National Key Research and Development Program of China(2016YFF0103501).
文摘Background Three-dimensional(3D)building models with unambiguous roof plane geometry parameters,roof structure units,and linked topology provide essential data for many applications related to human activities in urban environments.The task of 3D reconstruction from point clouds is still in the development phase,especially the recognition and interpretation of roof topological structures.Methods This study proposes a novel visual perception-based approach to automatically decompose and reconstruct building point clouds into meaningful and simple parametric structures,while the associated mutual relationships between the roof plane geometry and roof structure units are expressed by a hierarchical topology tree.First,a roof plane extraction is performed by a multi-label graph cut energy optimization framework and a roof structure graph(RSG)model is then constructed to describe the roof topological geometry with common adjacency,symmetry,and convexity rules.Moreover,a progressive roof decomposition and refinement are performed,generating a hierarchical representation of the 3D roof structure models.Finally,a visual plane fitted residual or area constraint process is adopted to generate the RSG model with different levels of details.Results Two airborne laser scanning datasets with different point densities and roof styles were tested,and the performance evaluation metrics were obtained by International Society for Photogrammetry and Remote Sensing,achieving a correctness and accuracy of 97.7%and 0.29m,respectively.Conclusions The standardized assessment results demonstrate the effectiveness and robustness of the proposed approach,showing its ability to generate a variety of structural models,even with missing data.
基金his research was funded by Hanoi university of Mining and Geology,Grant Number T22-47.
文摘Mining industrial areas with anthropogenic engineering structures are one of the most distinctive features of the real world.3D models of the real world have been increasingly popular with numerous applications,such as digital twins and smart factory management.In this study,3D models of mining engineering structures were built based on the CityGML standard.For collecting spatial data,the two most popular geospatial technologies,namely UAV-SfM and TLS were employed.The accuracy of the UAV survey was at the centimeter level,and it satisfied the absolute positional accuracy requirement of creat-ing all levels of detail(LoD)according to the CityGML standard.Therefore,the UAV-SfM point cloud dataset was used to build LoD 2 models.In addition,the comparison between the UAV-SfM and TLS sub-clouds of facades and roofs indicates that the UAV-SfM and TLS point clouds of these objects are highly consistent,therefore,point clouds with a higher level of detail and accuracy provided by the integration of UAV-SfM and TLS were used to build LoD 3 models.The resulting 3D CityGML models include 39 buildings at LoD 2,and two mine shafts with hoistrooms,headframes,and sheave wheels at LoD3.
基金supported by the National Innovation Research Group Science Fund(No.41521002)the National Key Research and Development Program of China(No.2018YFC1505202)。
文摘This paper introduces the use of point cloud processing for extracting 3D rock structure and the 3DEC-related reconstruction of slope failure,based on a case study of the 2019 Pinglu rockfall.The basic processing procedure involves:(1)computing the point normal for HSV-rendering of point cloud;(2)automatically clustering the discontinuity sets;(3)extracting the set-based point clouds;(4)estimating of set-based mean orientation,spacing,and persistence;(5)identifying the block-forming arrays of discontinuity sets for the assessment of stability.The effectiveness of our rock structure processing has been proved by 3D distinct element back analysis.The results show that Sf M modelling and rock structure computing provides enormous cost,time and safety incentives in standard engineering practice.
基金funded in part by the Key Project of Nature Science Research for Universities of Anhui Province of China(No.2022AH051720)in part by the Science and Technology Development Fund,Macao SAR(Grant Nos.0093/2022/A2,0076/2022/A2 and 0008/2022/AGJ)in part by the China University Industry-University-Research Collaborative Innovation Fund(No.2021FNA04017).
文摘This paper focuses on the effective utilization of data augmentation techniques for 3Dlidar point clouds to enhance the performance of neural network models.These point clouds,which represent spatial information through a collection of 3D coordinates,have found wide-ranging applications.Data augmentation has emerged as a potent solution to the challenges posed by limited labeled data and the need to enhance model generalization capabilities.Much of the existing research is devoted to crafting novel data augmentation methods specifically for 3D lidar point clouds.However,there has been a lack of focus on making the most of the numerous existing augmentation techniques.Addressing this deficiency,this research investigates the possibility of combining two fundamental data augmentation strategies.The paper introduces PolarMix andMix3D,two commonly employed augmentation techniques,and presents a new approach,named RandomFusion.Instead of using a fixed or predetermined combination of augmentation methods,RandomFusion randomly chooses one method from a pool of options for each instance or sample.This innovative data augmentation technique randomly augments each point in the point cloud with either PolarMix or Mix3D.The crux of this strategy is the random choice between PolarMix and Mix3Dfor the augmentation of each point within the point cloud data set.The results of the experiments conducted validate the efficacy of the RandomFusion strategy in enhancing the performance of neural network models for 3D lidar point cloud semantic segmentation tasks.This is achieved without compromising computational efficiency.By examining the potential of merging different augmentation techniques,the research contributes significantly to a more comprehensive understanding of how to utilize existing augmentation methods for 3D lidar point clouds.RandomFusion data augmentation technique offers a simple yet effective method to leverage the diversity of augmentation techniques and boost the robustness of models.The insights gained from this research can pave the way for future work aimed at developing more advanced and efficient data augmentation strategies for 3D lidar point cloud analysis.
基金supported by the National Research Foundation of Korea (NRF) (NRF-2018R1D1A3B07044041&NRF-2020R1A2C1101258)supported by the MSIT (Ministry of Science and ICT),Korea,under the ITRC (Information Technology Research Center)Support Program (IITP-2023-2020-0-01846)was conducted during the research year of Chungbuk National University in 2023.
文摘This article describes a novel approach for enhancing the three-dimensional(3D)point cloud reconstruction for light field microscopy(LFM)using U-net architecture-based fully convolutional neural network(CNN).Since the directional view of the LFM is limited,noise and artifacts make it difficult to reconstruct the exact shape of 3D point clouds.The existing methods suffer from these problems due to the self-occlusion of the model.This manuscript proposes a deep fusion learning(DL)method that combines a 3D CNN with a U-Net-based model as a feature extractor.The sub-aperture images obtained from the light field microscopy are aligned to form a light field data cube for preprocessing.A multi-stream 3D CNNs and U-net architecture are applied to obtain the depth feature fromthe directional sub-aperture LF data cube.For the enhancement of the depthmap,dual iteration-based weighted median filtering(WMF)is used to reduce surface noise and enhance the accuracy of the reconstruction.Generating a 3D point cloud involves combining two key elements:the enhanced depth map and the central view of the light field image.The proposed method is validated using synthesized Heidelberg Collaboratory for Image Processing(HCI)and real-world LFM datasets.The results are compared with different state-of-the-art methods.The structural similarity index(SSIM)gain for boxes,cotton,pillow,and pens are 0.9760,0.9806,0.9940,and 0.9907,respectively.Moreover,the discrete entropy(DE)value for LFM depth maps exhibited better performance than other existing methods.
基金supported in part by the National Natural Science Foundation of China under Grant Nos.U20A20197,62306187the Foundation of Ministry of Industry and Information Technology TC220H05X-04.
文摘In recent years,semantic segmentation on 3D point cloud data has attracted much attention.Unlike 2D images where pixels distribute regularly in the image domain,3D point clouds in non-Euclidean space are irregular and inherently sparse.Therefore,it is very difficult to extract long-range contexts and effectively aggregate local features for semantic segmentation in 3D point cloud space.Most current methods either focus on local feature aggregation or long-range context dependency,but fail to directly establish a global-local feature extractor to complete the point cloud semantic segmentation tasks.In this paper,we propose a Transformer-based stratified graph convolutional network(SGT-Net),which enlarges the effective receptive field and builds direct long-range dependency.Specifically,we first propose a novel dense-sparse sampling strategy that provides dense local vertices and sparse long-distance vertices for subsequent graph convolutional network(GCN).Secondly,we propose a multi-key self-attention mechanism based on the Transformer to further weight augmentation for crucial neighboring relationships and enlarge the effective receptive field.In addition,to further improve the efficiency of the network,we propose a similarity measurement module to determine whether the neighborhood near the center point is effective.We demonstrate the validity and superiority of our method on the S3DIS and ShapeNet datasets.Through ablation experiments and segmentation visualization,we verify that the SGT model can improve the performance of the point cloud semantic segmentation.
文摘In view of the limitations of traditional measurement methods in the field of building information,such as complex operation,low timeliness and poor accuracy,a new way of combining three-dimensional scanning technology and BIM(Building Information Modeling)model was discussed.Focused on the efficient acquisition of building geometric information using the fast-developing 3D point cloud technology,an improved deep learning-based 3D point cloud recognition method was proposed.The method optimised the network structure based on RandLA-Net to adapt to the large-scale point cloud processing requirements,while the semantic and instance features of the point cloud were integrated to significantly improve the recognition accuracy and provide a precise basis for BIM model remodeling.In addition,a visual BIM model generation system was developed,which systematically transformed the point cloud recognition results into BIM component parameters,automatically constructed BIM models,and promoted the open sharing and secondary development of models.The research results not only effectively promote the automation process of converting 3D point cloud data to refined BIM models,but also provide important technical support for promoting building informatisation and accelerating the construction of smart cities,showing a wide range of application potential and practical value.
