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
This paper presents an automated method for discontinuity trace mapping using three-dimensional point clouds of rock mass surfaces.Specifically,the method consists of five steps:(1)detection of trace feature points by...This paper presents an automated method for discontinuity trace mapping using three-dimensional point clouds of rock mass surfaces.Specifically,the method consists of five steps:(1)detection of trace feature points by normal tensor voting theory,(2)co ntraction of trace feature points,(3)connection of trace feature points,(4)linearization of trace segments,and(5)connection of trace segments.A sensitivity analysis was then conducted to identify the optimal parameters of the proposed method.Three field cases,a natural rock mass outcrop and two excavated rock tunnel surfaces,were analyzed using the proposed method to evaluate its validity and efficiency.The results show that the proposed method is more efficient and accurate than the traditional trace mapping method,and the efficiency enhancement is more robust as the number of feature points increases.展开更多
Evaluating rock mass quality using three-dimensional(3D)point clouds is crucial for discontinuity extraction and is widely applied in various industrial sectors.However,the utilization of this method in geological sur...Evaluating rock mass quality using three-dimensional(3D)point clouds is crucial for discontinuity extraction and is widely applied in various industrial sectors.However,the utilization of this method in geological surveys remains limited.Notable limitations of current research include the scarcity of validation using simple geometric shapes for discontinuity extraction methods,and the lack of studies that target both planar and linear discontinuity.To address these gaps,this study proposes a workflow for identifying discontinuity planes and traces in rock outcrops from photogrammetric 3D modeling,employing the Compass and Facets plugins in the open-source CloudCompare software.Prior to field application,the efficacy of the extraction methods was first evaluated using experimental datasets of a cube and an isosceles triangular prism generated under laboratory-controlled conditions.This validation demonstrated exceptional accuracy,with the dip and dip direction(DDD)of extracted structures consistently within±2°of the actual values.Following this rigorous laboratory validation,this methodology was applied to a more complex natural rock outcrop(Miocene–Pliocene deposits in Japan),demonstrating its applicability in realistic geological settings for identifying structures.The results showed that the dip and dip direction trends of the extracted bedding planes and faults were consistent with field measurements,achieving a time reduction of approximately 40%compared to traditional methods.In conclusion,through strictly controlled initial verification and subsequent successful application to a complex natural setting,this study confirmed that the proposed workflow can effectively and efficiently extract discontinuous geological structures from point clouds.展开更多
The virtual preassembly of super-high steel bridge towers faces a challenge in the efficient and precise extraction of complex cross-sectional features.Factors such as fabrication errors,gravity-induced deformations,a...The virtual preassembly of super-high steel bridge towers faces a challenge in the efficient and precise extraction of complex cross-sectional features.Factors such as fabrication errors,gravity-induced deformations,and temperature fluctuations can compromise the accuracy of contour extraction.To address these limitations,an improved Alpha-shape-based point cloud contour extraction method is proposed.The proposed approach uses a hierarchical strategy to process three-dimensional laser scanning point clouds.The processed data are then subjected to curvatureadaptive voxel filtering to reduce acquisition noise.In addition,an enhanced iterative closest point(ICP)variant with correspondence validation accurately aligns the discrete point cloud segments.The proposed curvature-responsive Alpha-shape framework enables multiscale contour delineation through topology-adaptive threshold modulation,which resolves boundary ambiguities in geometrically complex cross-sections.The method was experimentally validated using field-acquired measurement datasets from the Zhangjinggao Yangtze River Bridge tower segments,confirming its capability to reconstruct noncanonical cross-sectional geometries.Three contour extraction methods,including Poisson reconstruction,the conventional Alpha-shape algorithm,and random sample consensus with ICP(RANSAC-ICP),were compared to evaluate the performance of the proposed Alpha-shape algorithm.The results demonstrate that the proposed method achieves superior contour extraction accuracy and data reduction efficiency,highlighting its effectiveness in contour extraction tasks.展开更多
3D laser scanning technology is widely used in underground openings for high-precision,rapid,and nondestructive structural evaluations.Segmenting large 3D point cloud datasets,particularly in coal mine roadways with m...3D laser scanning technology is widely used in underground openings for high-precision,rapid,and nondestructive structural evaluations.Segmenting large 3D point cloud datasets,particularly in coal mine roadways with multi-scale targets,remains challenging.This paper proposes an enhanced segmentation method integrating improved PointNet++with a coverage-voted strategy.The coverage-voted strategy reduces data while preserving multi-scale target topology.The segmentation is achieved using an enhanced PointNet++algorithm with a normalization preprocessing head,resulting in a 94%accuracy for common supporting components.Ablation experiments show that the preprocessing head and coverage strategies increase segmentation accuracy by 20%and 2%,respectively,and improve Intersection over Union(IoU)for bearing plate segmentation by 58%and 20%.The accuracy of the current pretraining segmentation model may be affected by variations in surface support components,but it can be readily enhanced through re-optimization with additional labeled point cloud data.This proposed method,combined with a previously developed machine learning model that links rock bolt load and the deformation field of its bearing plate,provides a robust technique for simultaneously measuring the load of multiple rock bolts in a single laser scan.展开更多
Recently,large-scale deep learning models have been increasingly adopted for point cloud classification.However,thesemethods typically require collecting extensive datasets frommultiple clients,which may lead to priva...Recently,large-scale deep learning models have been increasingly adopted for point cloud classification.However,thesemethods typically require collecting extensive datasets frommultiple clients,which may lead to privacy leaks.Federated learning provides an effective solution to data leakage by eliminating the need for data transmission,relying instead on the exchange of model parameters.However,the uneven distribution of client data can still affect the model’s ability to generalize effectively.To address these challenges,we propose a new framework for point cloud classification called Federated Dynamic Aggregation Selection Strategy-based Multi-Receptive Field Fusion Classification Framework(FDASS-MRFCF).Specifically,we tackle these challenges with two key innovations:(1)During the client local training phase,we propose a Multi-Receptive Field Fusion Classification Model(MRFCM),which captures local and global structures in point cloud data through dynamic convolution and multi-scale feature fusion,enhancing the robustness of point cloud classification.(2)In the server aggregation phase,we introduce a Federated Dynamic Aggregation Selection Strategy(FDASS),which employs a hybrid strategy to average client model parameters,skip aggregation,or reallocate local models to different clients,thereby balancing global consistency and local diversity.We evaluate our framework using the ModelNet40 and ShapeNetPart benchmarks,demonstrating its effectiveness.The proposed method is expected to significantly advance the field of point cloud classification in a secure environment.展开更多
To support the process of grasping objects on a tabletop for the blind or robotic arm,it is necessary to address fundamental computer vision tasks,such as detecting,recognizing,and locating objects in space,and determ...To support the process of grasping objects on a tabletop for the blind or robotic arm,it is necessary to address fundamental computer vision tasks,such as detecting,recognizing,and locating objects in space,and determining the position of the grasping information.These results can then be used to guide the visually impaired or to execute grasping tasks with a robotic arm.In this paper,we collected,annotated,and published the benchmark TQUGraspingObject dataset for testing,validation,and evaluation of deep learning(DL)models for detecting,recognizing,and localizing grasping objects in 2D and 3D space,especially 3D point cloud data.Our dataset is collected in a shared room,with common everyday objects placed on the tabletop in jumbled positions by Intel RealSense D435(IR-D435).This dataset includes more than 63k RGB-D pairs and related data such as normalized 3D object point cloud,3D object point cloud segmented,coordinate system normalizationmatrix,3D object point cloud normalized,and hand pose for grasping each object.At the same time,we also conducted experiments on fourDL networks with the best performance:SSD-MobileNetV3,ResNet50-Transformer,ResNet101-Transformer,and YOLOv12.The results present that YOLOv12 has the most suitable results in detecting and recognizing objects in images.All data,annotations,toolkit,source code,point cloud data,and results are publicly available on our project website:https://github.com/HuaTThanhIT2327Tqu/datasetv2.展开更多
Mapping and analyzing rock mass discontinuities based on 3D(three-dimensional)point cloud(3DPC)is one of the most important work in the engineering geomechanical survey.To efficiently analyze the distribution of disco...Mapping and analyzing rock mass discontinuities based on 3D(three-dimensional)point cloud(3DPC)is one of the most important work in the engineering geomechanical survey.To efficiently analyze the distribution of discontinuities,a self-developed code termed as the cloud-group-cluster(CGC)method based on MATLAB for mapping and detecting discontinuities based on the 3DPC was introduced.The identification and optimization of discontinuity groups were performed using three key parameters,i.e.K,θ,and f.A sensitivity analysis approach for identifying the optimal key parameters was introduced.The results show that the comprehensive analysis of the main discontinuity groups,mean orientations,and densities could be achieved automatically.The accuracy of the CGC method was validated using tetrahedral and hexahedral models.The 3D point cloud data were divided into three levels(point cloud,group,and cluster)for analysis,and this three-level distribution recognition was applied to natural rock surfaces.The densities and spacing information of the principal discontinuities were automatically detected using the CGC method.Five engineering case studies were conducted to validate the CGC method,showing the applicability in detecting rock discontinuities based on 3DPC model.展开更多
Existing reverse-engineering methods struggle to directly generate editable,parametric CAD models from scanned data.To address this limitation,this paper proposes a reverse-modeling approach that reconstructs parametr...Existing reverse-engineering methods struggle to directly generate editable,parametric CAD models from scanned data.To address this limitation,this paper proposes a reverse-modeling approach that reconstructs parametric CAD models from multi-view RGB-D point clouds.Multi-frame point-cloud registration and fusion are first employed to obtain a complete 3-D point cloud of the target object.A region-growing algorithm that jointly exploits color and geometric information segments the cloud,while RANSAC robustly detects and fits basic geometric primitives.These primitives serve as nodes in a graph whose edge features are inferred by a graph neural network to capture spatial constraints.From the detected primitives and their constraints,a high-accuracy,fully editable parametric CAD model is finally exported.Experiments show an average parameter error of 0.3 mm for key dimensions and an overall geometric reconstruction accuracy of 0.35 mm.The work offers an effective technical route toward automated,intelligent 3-D reverse modeling.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
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
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
针对自动驾驶场景下,近处干扰点云误检率高、远处稀疏点云漏检率高的问题,提出了一种基于改进PointPillars的自动驾驶障碍物点云检测算法.首先,通过聚合模块和共享多层感知机(shared multi-layer perceptron,MLP)对柱体内点云进行特征编...针对自动驾驶场景下,近处干扰点云误检率高、远处稀疏点云漏检率高的问题,提出了一种基于改进PointPillars的自动驾驶障碍物点云检测算法.首先,通过聚合模块和共享多层感知机(shared multi-layer perceptron,MLP)对柱体内点云进行特征编码,采用最大池化与平均池化叠加的方法将点云的显著特征与细节特征映射为柱体特征;其次,针对算法对伪图特征关注与利用不充分的问题,引入坐标注意力(coordinate attention,CA)机制和残差连接的伪图特征提取模块(attention and residual second block,ARSB),将深层与浅层特征图进行融合,优化算法梯度,增强算法对有效目标的关注度.试验结果表明:改进算法对全局点云检测精度较高,平均精度优于PointPillars、稀疏到稠密3D目标检测器(STD)等点云目标检测算法,在汽车类别上的检测精度优势明显,检测速度较快,符合实时性要求.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
A novel filtering algorithm for Lidar point clouds is presented, which can work well for complex cityscapes. Its main features are filtering based on raw Lidar point clouds without previous triangulation or rasterizat...A novel filtering algorithm for Lidar point clouds is presented, which can work well for complex cityscapes. Its main features are filtering based on raw Lidar point clouds without previous triangulation or rasterization. 3D topological relations among points are used to search edge points at the top of discontinuities, which are key information to recognize the bare earth points and building points. Experiment results show that the proposed algorithm can preserve discontinuous features in the bare earth and has no impact of size and shape of buildings.展开更多
The degree of spatial similarity plays an important role in map generalization, yet there has been no quantitative research into it. To fill this gap, this study first defines map scale change and spatial similarity d...The degree of spatial similarity plays an important role in map generalization, yet there has been no quantitative research into it. To fill this gap, this study first defines map scale change and spatial similarity degree/relation in multi-scale map spaces and then proposes a model for calculating the degree of spatial similarity between a point cloud at one scale and its gener- alized counterpart at another scale. After validation, the new model features 16 points with map scale change as the x coordinate and the degree of spatial similarity as the y coordinate. Finally, using an application for curve fitting, the model achieves an empirical formula that can calculate the degree of spatial similarity using map scale change as the sole independent variable, and vice versa. This formula can be used to automate algorithms for point feature generalization and to determine when to terminate them during the generalization.展开更多
Large-scale point cloud datasets form the basis for training various deep learning networks and achieving high-quality network processing tasks.Due to the diversity and robustness constraints of the data,data augmenta...Large-scale point cloud datasets form the basis for training various deep learning networks and achieving high-quality network processing tasks.Due to the diversity and robustness constraints of the data,data augmentation(DA)methods are utilised to expand dataset diversity and scale.However,due to the complex and distinct characteristics of LiDAR point cloud data from different platforms(such as missile-borne and vehicular LiDAR data),directly applying traditional 2D visual domain DA methods to 3D data can lead to networks trained using this approach not robustly achieving the corresponding tasks.To address this issue,the present study explores DA for missile-borne LiDAR point cloud using a Monte Carlo(MC)simulation method that closely resembles practical application.Firstly,the model of multi-sensor imaging system is established,taking into account the joint errors arising from the platform itself and the relative motion during the imaging process.A distortion simulation method based on MC simulation for augmenting missile-borne LiDAR point cloud data is proposed,underpinned by an analysis of combined errors between different modal sensors,achieving high-quality augmentation of point cloud data.The effectiveness of the proposed method in addressing imaging system errors and distortion simulation is validated using the imaging scene dataset constructed in this paper.Comparative experiments between the proposed point cloud DA algorithm and the current state-of-the-art algorithms in point cloud detection and single object tracking tasks demonstrate that the proposed method can improve the network performance obtained from unaugmented datasets by over 17.3%and 17.9%,surpassing SOTA performance of current point cloud DA algorithms.展开更多
Aerodynamic evaluation under multi-condition is indispensable for the design of aircraft,and the requirement for mass data still means a high cost.To address this problem,we propose a novel point-cloud multi-condition...Aerodynamic evaluation under multi-condition is indispensable for the design of aircraft,and the requirement for mass data still means a high cost.To address this problem,we propose a novel point-cloud multi-condition aerodynamics transfer learning(PCMCA-TL)framework that enables aerodynamic prediction in data-scarce sce-narios by transferring knowledge from well-learned scenarios.We modified the PointNeXt segmentation archi-tecture to a PointNeXtReg+regression model,including a working condition input module.The model is first pre-trained on a public dataset with 2000 shapes but only one working condition and then fine-tuned on a multi-condition small-scale spaceplane dataset.The effectiveness of the PCMCA-TL framework is verified by comparing the pressure coefficients predicted by direct training,pre-training,and TL models.Furthermore,by comparing the aerodynamic force coefficients calculated by predicted pressure coefficients in seconds with the correspond-ing CFD results obtained in hours,the accuracy highlights the development potential of deep transfer learning in aerodynamic evaluation.展开更多
This study presents a framework for the semi-automatic detection of rock discontinuities using a threedimensional(3D)point cloud(PC).The process begins by selecting an appropriate neighborhood size,a critical step for...This study presents a framework for the semi-automatic detection of rock discontinuities using a threedimensional(3D)point cloud(PC).The process begins by selecting an appropriate neighborhood size,a critical step for feature extraction from the PC.The effects of different neighborhood sizes(k=5,10,20,50,and 100)have been evaluated to assess their impact on classification performance.After that,17 geometric and spatial features were extracted from the PC.Next,ensemble methods,AdaBoost.M2,random forest,and decision tree,have been compared with Artificial Neural Networks to classify the main discontinuity sets.The McNemar test indicates that the classifiers are statistically significant.The random forest classifier consistently achieves the highest performance with an accuracy exceeding 95%when using a neighborhood size of k=100,while recall,F-score,and Cohen's Kappa also demonstrate high success.SHapley Additive exPlanations(SHAP),an Explainable AI technique,has been used to evaluate feature importance and improve the explainability of black-box machine learning models in the context of rock discontinuity classification.The analysis reveals that features such as normal vectors,verticality,and Z-values have the greatest influence on identifying main discontinuity sets,while linearity,planarity,and eigenvalues contribute less,making the model more transparent and easier to understand.After classification,individual discontinuity sets were detected using a revised DBSCAN from the main discontinuity sets.Finally,the orientation parameters of the plane fitted to each discontinuity were derived from the plane parameters obtained using the Random Sample Consensus(RANSAC).Two real-world datasets(obtained from SfM and LiDAR)and one synthetic dataset were used to validate the proposed method,which successfully identified rock discontinuities and their orientation parameters(dip angle/direction).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 Special Fund for Basic Research on Scientific Instruments of the National Natural Science Foundation of China(Grant No.4182780021)Emeishan-Hanyuan Highway ProgramTaihang Mountain Highway Program。
文摘This paper presents an automated method for discontinuity trace mapping using three-dimensional point clouds of rock mass surfaces.Specifically,the method consists of five steps:(1)detection of trace feature points by normal tensor voting theory,(2)co ntraction of trace feature points,(3)connection of trace feature points,(4)linearization of trace segments,and(5)connection of trace segments.A sensitivity analysis was then conducted to identify the optimal parameters of the proposed method.Three field cases,a natural rock mass outcrop and two excavated rock tunnel surfaces,were analyzed using the proposed method to evaluate its validity and efficiency.The results show that the proposed method is more efficient and accurate than the traditional trace mapping method,and the efficiency enhancement is more robust as the number of feature points increases.
文摘Evaluating rock mass quality using three-dimensional(3D)point clouds is crucial for discontinuity extraction and is widely applied in various industrial sectors.However,the utilization of this method in geological surveys remains limited.Notable limitations of current research include the scarcity of validation using simple geometric shapes for discontinuity extraction methods,and the lack of studies that target both planar and linear discontinuity.To address these gaps,this study proposes a workflow for identifying discontinuity planes and traces in rock outcrops from photogrammetric 3D modeling,employing the Compass and Facets plugins in the open-source CloudCompare software.Prior to field application,the efficacy of the extraction methods was first evaluated using experimental datasets of a cube and an isosceles triangular prism generated under laboratory-controlled conditions.This validation demonstrated exceptional accuracy,with the dip and dip direction(DDD)of extracted structures consistently within±2°of the actual values.Following this rigorous laboratory validation,this methodology was applied to a more complex natural rock outcrop(Miocene–Pliocene deposits in Japan),demonstrating its applicability in realistic geological settings for identifying structures.The results showed that the dip and dip direction trends of the extracted bedding planes and faults were consistent with field measurements,achieving a time reduction of approximately 40%compared to traditional methods.In conclusion,through strictly controlled initial verification and subsequent successful application to a complex natural setting,this study confirmed that the proposed workflow can effectively and efficiently extract discontinuous geological structures from point clouds.
基金The National Natural Science Foundation of China(No.52338011)the Start-up Research Fund of Southeast University(No.RF1028624058)+1 种基金the Southeast University Interdisciplinary Research Program for Young Scholarsthe National Key Research and Development Program of China(No.2024YFC3014103).
文摘The virtual preassembly of super-high steel bridge towers faces a challenge in the efficient and precise extraction of complex cross-sectional features.Factors such as fabrication errors,gravity-induced deformations,and temperature fluctuations can compromise the accuracy of contour extraction.To address these limitations,an improved Alpha-shape-based point cloud contour extraction method is proposed.The proposed approach uses a hierarchical strategy to process three-dimensional laser scanning point clouds.The processed data are then subjected to curvatureadaptive voxel filtering to reduce acquisition noise.In addition,an enhanced iterative closest point(ICP)variant with correspondence validation accurately aligns the discrete point cloud segments.The proposed curvature-responsive Alpha-shape framework enables multiscale contour delineation through topology-adaptive threshold modulation,which resolves boundary ambiguities in geometrically complex cross-sections.The method was experimentally validated using field-acquired measurement datasets from the Zhangjinggao Yangtze River Bridge tower segments,confirming its capability to reconstruct noncanonical cross-sectional geometries.Three contour extraction methods,including Poisson reconstruction,the conventional Alpha-shape algorithm,and random sample consensus with ICP(RANSAC-ICP),were compared to evaluate the performance of the proposed Alpha-shape algorithm.The results demonstrate that the proposed method achieves superior contour extraction accuracy and data reduction efficiency,highlighting its effectiveness in contour extraction tasks.
基金supported by the National Natural Science Foundation of China(Grant Nos.52304139,52325403)the CCTEG Coal Mining Research Institute funding(Grant No.KCYJY-2024-MS-10).
文摘3D laser scanning technology is widely used in underground openings for high-precision,rapid,and nondestructive structural evaluations.Segmenting large 3D point cloud datasets,particularly in coal mine roadways with multi-scale targets,remains challenging.This paper proposes an enhanced segmentation method integrating improved PointNet++with a coverage-voted strategy.The coverage-voted strategy reduces data while preserving multi-scale target topology.The segmentation is achieved using an enhanced PointNet++algorithm with a normalization preprocessing head,resulting in a 94%accuracy for common supporting components.Ablation experiments show that the preprocessing head and coverage strategies increase segmentation accuracy by 20%and 2%,respectively,and improve Intersection over Union(IoU)for bearing plate segmentation by 58%and 20%.The accuracy of the current pretraining segmentation model may be affected by variations in surface support components,but it can be readily enhanced through re-optimization with additional labeled point cloud data.This proposed method,combined with a previously developed machine learning model that links rock bolt load and the deformation field of its bearing plate,provides a robust technique for simultaneously measuring the load of multiple rock bolts in a single laser scan.
基金supported in part by the National Key Research and Development Program of Chinaunder(Grant 2021YFB3101100)in part by the National Natural Science Foundation of Chinaunder(Grant 42461057),(Grant 62272123),and(Grant 42371470)+1 种基金in part by the Fundamental Research Program of Shanxi Province under(Grant 202303021212164)in part by the Postgraduate Education Innovation Program of Shanxi Province under(Grant 2024KY474).
文摘Recently,large-scale deep learning models have been increasingly adopted for point cloud classification.However,thesemethods typically require collecting extensive datasets frommultiple clients,which may lead to privacy leaks.Federated learning provides an effective solution to data leakage by eliminating the need for data transmission,relying instead on the exchange of model parameters.However,the uneven distribution of client data can still affect the model’s ability to generalize effectively.To address these challenges,we propose a new framework for point cloud classification called Federated Dynamic Aggregation Selection Strategy-based Multi-Receptive Field Fusion Classification Framework(FDASS-MRFCF).Specifically,we tackle these challenges with two key innovations:(1)During the client local training phase,we propose a Multi-Receptive Field Fusion Classification Model(MRFCM),which captures local and global structures in point cloud data through dynamic convolution and multi-scale feature fusion,enhancing the robustness of point cloud classification.(2)In the server aggregation phase,we introduce a Federated Dynamic Aggregation Selection Strategy(FDASS),which employs a hybrid strategy to average client model parameters,skip aggregation,or reallocate local models to different clients,thereby balancing global consistency and local diversity.We evaluate our framework using the ModelNet40 and ShapeNetPart benchmarks,demonstrating its effectiveness.The proposed method is expected to significantly advance the field of point cloud classification in a secure environment.
文摘To support the process of grasping objects on a tabletop for the blind or robotic arm,it is necessary to address fundamental computer vision tasks,such as detecting,recognizing,and locating objects in space,and determining the position of the grasping information.These results can then be used to guide the visually impaired or to execute grasping tasks with a robotic arm.In this paper,we collected,annotated,and published the benchmark TQUGraspingObject dataset for testing,validation,and evaluation of deep learning(DL)models for detecting,recognizing,and localizing grasping objects in 2D and 3D space,especially 3D point cloud data.Our dataset is collected in a shared room,with common everyday objects placed on the tabletop in jumbled positions by Intel RealSense D435(IR-D435).This dataset includes more than 63k RGB-D pairs and related data such as normalized 3D object point cloud,3D object point cloud segmented,coordinate system normalizationmatrix,3D object point cloud normalized,and hand pose for grasping each object.At the same time,we also conducted experiments on fourDL networks with the best performance:SSD-MobileNetV3,ResNet50-Transformer,ResNet101-Transformer,and YOLOv12.The results present that YOLOv12 has the most suitable results in detecting and recognizing objects in images.All data,annotations,toolkit,source code,point cloud data,and results are publicly available on our project website:https://github.com/HuaTThanhIT2327Tqu/datasetv2.
基金supported by the National Key Research and Development Program of China(Grant Nos.2023YFC2907400 and 2021YFC2900500)the National Natural Science Foundation of China(Grant No.52074020).
文摘Mapping and analyzing rock mass discontinuities based on 3D(three-dimensional)point cloud(3DPC)is one of the most important work in the engineering geomechanical survey.To efficiently analyze the distribution of discontinuities,a self-developed code termed as the cloud-group-cluster(CGC)method based on MATLAB for mapping and detecting discontinuities based on the 3DPC was introduced.The identification and optimization of discontinuity groups were performed using three key parameters,i.e.K,θ,and f.A sensitivity analysis approach for identifying the optimal key parameters was introduced.The results show that the comprehensive analysis of the main discontinuity groups,mean orientations,and densities could be achieved automatically.The accuracy of the CGC method was validated using tetrahedral and hexahedral models.The 3D point cloud data were divided into three levels(point cloud,group,and cluster)for analysis,and this three-level distribution recognition was applied to natural rock surfaces.The densities and spacing information of the principal discontinuities were automatically detected using the CGC method.Five engineering case studies were conducted to validate the CGC method,showing the applicability in detecting rock discontinuities based on 3DPC model.
文摘Existing reverse-engineering methods struggle to directly generate editable,parametric CAD models from scanned data.To address this limitation,this paper proposes a reverse-modeling approach that reconstructs parametric CAD models from multi-view RGB-D point clouds.Multi-frame point-cloud registration and fusion are first employed to obtain a complete 3-D point cloud of the target object.A region-growing algorithm that jointly exploits color and geometric information segments the cloud,while RANSAC robustly detects and fits basic geometric primitives.These primitives serve as nodes in a graph whose edge features are inferred by a graph neural network to capture spatial constraints.From the detected primitives and their constraints,a high-accuracy,fully editable parametric CAD model is finally exported.Experiments show an average parameter error of 0.3 mm for key dimensions and an overall geometric reconstruction accuracy of 0.35 mm.The work offers an effective technical route toward automated,intelligent 3-D reverse modeling.
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.
文摘针对自动驾驶场景下,近处干扰点云误检率高、远处稀疏点云漏检率高的问题,提出了一种基于改进PointPillars的自动驾驶障碍物点云检测算法.首先,通过聚合模块和共享多层感知机(shared multi-layer perceptron,MLP)对柱体内点云进行特征编码,采用最大池化与平均池化叠加的方法将点云的显著特征与细节特征映射为柱体特征;其次,针对算法对伪图特征关注与利用不充分的问题,引入坐标注意力(coordinate attention,CA)机制和残差连接的伪图特征提取模块(attention and residual second block,ARSB),将深层与浅层特征图进行融合,优化算法梯度,增强算法对有效目标的关注度.试验结果表明:改进算法对全局点云检测精度较高,平均精度优于PointPillars、稀疏到稠密3D目标检测器(STD)等点云目标检测算法,在汽车类别上的检测精度优势明显,检测速度较快,符合实时性要求.
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the National 863 Program of China (No.SQ2006AA12Z108506)
文摘A novel filtering algorithm for Lidar point clouds is presented, which can work well for complex cityscapes. Its main features are filtering based on raw Lidar point clouds without previous triangulation or rasterization. 3D topological relations among points are used to search edge points at the top of discontinuities, which are key information to recognize the bare earth points and building points. Experiment results show that the proposed algorithm can preserve discontinuous features in the bare earth and has no impact of size and shape of buildings.
基金funded by the Natural Science Foundation Committee,China(41364001,41371435)
文摘The degree of spatial similarity plays an important role in map generalization, yet there has been no quantitative research into it. To fill this gap, this study first defines map scale change and spatial similarity degree/relation in multi-scale map spaces and then proposes a model for calculating the degree of spatial similarity between a point cloud at one scale and its gener- alized counterpart at another scale. After validation, the new model features 16 points with map scale change as the x coordinate and the degree of spatial similarity as the y coordinate. Finally, using an application for curve fitting, the model achieves an empirical formula that can calculate the degree of spatial similarity using map scale change as the sole independent variable, and vice versa. This formula can be used to automate algorithms for point feature generalization and to determine when to terminate them during the generalization.
基金Postgraduate Innovation Top notch Talent Training Project of Hunan Province,Grant/Award Number:CX20220045Scientific Research Project of National University of Defense Technology,Grant/Award Number:22-ZZCX-07+2 种基金New Era Education Quality Project of Anhui Province,Grant/Award Number:2023cxcysj194National Natural Science Foundation of China,Grant/Award Numbers:62201597,62205372,1210456foundation of Hefei Comprehensive National Science Center,Grant/Award Number:KY23C502。
文摘Large-scale point cloud datasets form the basis for training various deep learning networks and achieving high-quality network processing tasks.Due to the diversity and robustness constraints of the data,data augmentation(DA)methods are utilised to expand dataset diversity and scale.However,due to the complex and distinct characteristics of LiDAR point cloud data from different platforms(such as missile-borne and vehicular LiDAR data),directly applying traditional 2D visual domain DA methods to 3D data can lead to networks trained using this approach not robustly achieving the corresponding tasks.To address this issue,the present study explores DA for missile-borne LiDAR point cloud using a Monte Carlo(MC)simulation method that closely resembles practical application.Firstly,the model of multi-sensor imaging system is established,taking into account the joint errors arising from the platform itself and the relative motion during the imaging process.A distortion simulation method based on MC simulation for augmenting missile-borne LiDAR point cloud data is proposed,underpinned by an analysis of combined errors between different modal sensors,achieving high-quality augmentation of point cloud data.The effectiveness of the proposed method in addressing imaging system errors and distortion simulation is validated using the imaging scene dataset constructed in this paper.Comparative experiments between the proposed point cloud DA algorithm and the current state-of-the-art algorithms in point cloud detection and single object tracking tasks demonstrate that the proposed method can improve the network performance obtained from unaugmented datasets by over 17.3%and 17.9%,surpassing SOTA performance of current point cloud DA algorithms.
基金supported by the Natural Science Foundation of Hunan Province of China(Grant No.2021JJ10045).
文摘Aerodynamic evaluation under multi-condition is indispensable for the design of aircraft,and the requirement for mass data still means a high cost.To address this problem,we propose a novel point-cloud multi-condition aerodynamics transfer learning(PCMCA-TL)framework that enables aerodynamic prediction in data-scarce sce-narios by transferring knowledge from well-learned scenarios.We modified the PointNeXt segmentation archi-tecture to a PointNeXtReg+regression model,including a working condition input module.The model is first pre-trained on a public dataset with 2000 shapes but only one working condition and then fine-tuned on a multi-condition small-scale spaceplane dataset.The effectiveness of the PCMCA-TL framework is verified by comparing the pressure coefficients predicted by direct training,pre-training,and TL models.Furthermore,by comparing the aerodynamic force coefficients calculated by predicted pressure coefficients in seconds with the correspond-ing CFD results obtained in hours,the accuracy highlights the development potential of deep transfer learning in aerodynamic evaluation.
文摘This study presents a framework for the semi-automatic detection of rock discontinuities using a threedimensional(3D)point cloud(PC).The process begins by selecting an appropriate neighborhood size,a critical step for feature extraction from the PC.The effects of different neighborhood sizes(k=5,10,20,50,and 100)have been evaluated to assess their impact on classification performance.After that,17 geometric and spatial features were extracted from the PC.Next,ensemble methods,AdaBoost.M2,random forest,and decision tree,have been compared with Artificial Neural Networks to classify the main discontinuity sets.The McNemar test indicates that the classifiers are statistically significant.The random forest classifier consistently achieves the highest performance with an accuracy exceeding 95%when using a neighborhood size of k=100,while recall,F-score,and Cohen's Kappa also demonstrate high success.SHapley Additive exPlanations(SHAP),an Explainable AI technique,has been used to evaluate feature importance and improve the explainability of black-box machine learning models in the context of rock discontinuity classification.The analysis reveals that features such as normal vectors,verticality,and Z-values have the greatest influence on identifying main discontinuity sets,while linearity,planarity,and eigenvalues contribute less,making the model more transparent and easier to understand.After classification,individual discontinuity sets were detected using a revised DBSCAN from the main discontinuity sets.Finally,the orientation parameters of the plane fitted to each discontinuity were derived from the plane parameters obtained using the Random Sample Consensus(RANSAC).Two real-world datasets(obtained from SfM and LiDAR)and one synthetic dataset were used to validate the proposed method,which successfully identified rock discontinuities and their orientation parameters(dip angle/direction).
