The classification of point cloud data is the key technology of point cloud data information acquisition and 3D reconstruction, which has a wide range of applications. However, the existing point cloud classification ...The classification of point cloud data is the key technology of point cloud data information acquisition and 3D reconstruction, which has a wide range of applications. However, the existing point cloud classification methods have some shortcomings when extracting point cloud features, such as insufficient extraction of local information and overlooking the information in other neighborhood features in the point cloud, and not focusing on the point cloud channel information and spatial information. To solve the above problems, a point cloud classification network based on graph convolution and fusion attention mechanism is proposed to achieve more accurate classification results. Firstly, the point cloud is regarded as a node on the graph, the k-nearest neighbor algorithm is used to compose the graph and the information between points is dynamically captured by stacking multiple graph convolution layers;then, with the assistance of 2D experience of attention mechanism, an attention mechanism which has the capability to integrate more attention to point cloud spatial and channel information is introduced to increase the feature information of point cloud, aggregate local useful features and suppress useless features. Through the classification experiments on ModelNet40 dataset, the experimental results show that compared with PointNet network without considering the local feature information of the point cloud, the average classification accuracy of the proposed model has a 4.4% improvement and the overall classification accuracy has a 4.4% improvement. Compared with other networks, the classification accuracy of the proposed model has also been improved.展开更多
For a vision measurement system consisted of laser-CCD scanning sensors, an algorithm is proposed to extract and recognize the target object contour. Firstly, the two-dimensional（2D） point cloud that is output by th...For a vision measurement system consisted of laser-CCD scanning sensors, an algorithm is proposed to extract and recognize the target object contour. Firstly, the two-dimensional（2D） point cloud that is output by the integrated laser sensor is transformed into a binary image. Secondly, the potential target object contours are segmented and extracted based on the connected domain labeling and adaptive corner detection. Then, the target object contour is recognized by improved Hu invariant moments and BP neural network classifier. Finally, we extract the point data of the target object contour through the reverse transformation from a binary image to a 2D point cloud. The experimental results show that the average recognition rate is 98.5% and the average recognition time is 0.18 s per frame. This algorithm realizes the real-time tracking of the target object in the complex background and the condition of multi-moving objects.展开更多
The purpose of reverse engineering is to convert a large point cloud into a CAD model. In reverse engineering, the key issue is segmentation, i.e. studying how to subdivide the point cloud into smaller regions, where ...The purpose of reverse engineering is to convert a large point cloud into a CAD model. In reverse engineering, the key issue is segmentation, i.e. studying how to subdivide the point cloud into smaller regions, where each of them can be approximated by a single surface. Segmentation is relatively simple, if regions are bounded by sharp edges and small blends; problems arise when smoothly connected regions need to be separated. In this paper, a modified self-organizing feature map neural network （SOFM） is used to solve segmentation problem. Eight dimensional feature vectors （3-dimensional coordinates, 3-dimensional normal vectors, Gaussian curvature and mean curvature） are taken as input for SOFM. The weighted Euclidean distance measure is used to improve segmentation result. The method not only can deal with regions bounded by sharp edges, but also is very efficient to separating smoothly connected regions. The segmentation method using SOFM is robust to noise, and it operates directly on the point cloud. An examples is given to show the effect of SOFM algorithm.展开更多
The cloud radio access network(C-RAN) has recently been proposed as an important component of the next generation wireless networks providing opportunities for improving both spectral and energy effi ciencies. The per...The cloud radio access network(C-RAN) has recently been proposed as an important component of the next generation wireless networks providing opportunities for improving both spectral and energy effi ciencies. The performance of this network structure is however constrained by severe inter-cell interference due to the limited capacity of fronthaul between the radio remote heads(RRH) and the base band unit(BBU) pool. To achieve performance improvement taking full advantage of centralized processing capabilities of C-RANs,a set of RRHs can jointly transmit data to the same UE for improved spectral effi ciency. In this paper,a user centralized joint coordinated transmission(UC-JCT) scheme is put forth to investigate the downlink performance of C-RANs. The most important benefit the proposed strategy is the ability to translate what would have been the most dominant interfering sources to usable signal leading to a signifi cantly improved performance. Stochastic geometry is utilized to model the randomness of RRH location and provides a reliable performance analysis. We derive an analytical expression for the closed integral form of the coverage probability of a typical UE. Simulation results confirm the accuracy of our analysis and demonstrate that significant performance gain can be achieved from the proposed coordination schemes.展开更多
文摘The classification of point cloud data is the key technology of point cloud data information acquisition and 3D reconstruction, which has a wide range of applications. However, the existing point cloud classification methods have some shortcomings when extracting point cloud features, such as insufficient extraction of local information and overlooking the information in other neighborhood features in the point cloud, and not focusing on the point cloud channel information and spatial information. To solve the above problems, a point cloud classification network based on graph convolution and fusion attention mechanism is proposed to achieve more accurate classification results. Firstly, the point cloud is regarded as a node on the graph, the k-nearest neighbor algorithm is used to compose the graph and the information between points is dynamically captured by stacking multiple graph convolution layers;then, with the assistance of 2D experience of attention mechanism, an attention mechanism which has the capability to integrate more attention to point cloud spatial and channel information is introduced to increase the feature information of point cloud, aggregate local useful features and suppress useless features. Through the classification experiments on ModelNet40 dataset, the experimental results show that compared with PointNet network without considering the local feature information of the point cloud, the average classification accuracy of the proposed model has a 4.4% improvement and the overall classification accuracy has a 4.4% improvement. Compared with other networks, the classification accuracy of the proposed model has also been improved.
文摘For a vision measurement system consisted of laser-CCD scanning sensors, an algorithm is proposed to extract and recognize the target object contour. Firstly, the two-dimensional（2D） point cloud that is output by the integrated laser sensor is transformed into a binary image. Secondly, the potential target object contours are segmented and extracted based on the connected domain labeling and adaptive corner detection. Then, the target object contour is recognized by improved Hu invariant moments and BP neural network classifier. Finally, we extract the point data of the target object contour through the reverse transformation from a binary image to a 2D point cloud. The experimental results show that the average recognition rate is 98.5% and the average recognition time is 0.18 s per frame. This algorithm realizes the real-time tracking of the target object in the complex background and the condition of multi-moving objects.
基金Supported by the National Natural Science Foundation of China(60573177), the Aeronautical Science Foundation of China (04H53059) , the natural Science Foundation of Henan Province (200510078010) and Youth Science Foundation at North China Institute of Water Conservancy and Hydroelectric Power(HSQJ2004003)
文摘The purpose of reverse engineering is to convert a large point cloud into a CAD model. In reverse engineering, the key issue is segmentation, i.e. studying how to subdivide the point cloud into smaller regions, where each of them can be approximated by a single surface. Segmentation is relatively simple, if regions are bounded by sharp edges and small blends; problems arise when smoothly connected regions need to be separated. In this paper, a modified self-organizing feature map neural network （SOFM） is used to solve segmentation problem. Eight dimensional feature vectors （3-dimensional coordinates, 3-dimensional normal vectors, Gaussian curvature and mean curvature） are taken as input for SOFM. The weighted Euclidean distance measure is used to improve segmentation result. The method not only can deal with regions bounded by sharp edges, but also is very efficient to separating smoothly connected regions. The segmentation method using SOFM is robust to noise, and it operates directly on the point cloud. An examples is given to show the effect of SOFM algorithm.
基金supported in part by the National Natural Science Foundation of China (Grant No. 61222103)the Beijing Natural Science Foundation (Grant No. 4131003)+1 种基金the Specialized Research Fund for the Doctoral Program of Higher Education (SRFDP) (Grant No. 20120005140002)the National High Technology Research and Development Program (863 Program) of China under Grant No. 2014AA01A707
文摘The cloud radio access network(C-RAN) has recently been proposed as an important component of the next generation wireless networks providing opportunities for improving both spectral and energy effi ciencies. The performance of this network structure is however constrained by severe inter-cell interference due to the limited capacity of fronthaul between the radio remote heads(RRH) and the base band unit(BBU) pool. To achieve performance improvement taking full advantage of centralized processing capabilities of C-RANs,a set of RRHs can jointly transmit data to the same UE for improved spectral effi ciency. In this paper,a user centralized joint coordinated transmission(UC-JCT) scheme is put forth to investigate the downlink performance of C-RANs. The most important benefit the proposed strategy is the ability to translate what would have been the most dominant interfering sources to usable signal leading to a signifi cantly improved performance. Stochastic geometry is utilized to model the randomness of RRH location and provides a reliable performance analysis. We derive an analytical expression for the closed integral form of the coverage probability of a typical UE. Simulation results confirm the accuracy of our analysis and demonstrate that significant performance gain can be achieved from the proposed coordination schemes.
