CAJ | 학술논문

特征检测在物体识别、数据配准等应用中具有至关重要的作用。同一场景中不同采集数据的配准和融合，必须已知或者估算不同数据中的共同特征对应点。然而，许多场景缺少有效对应特征点。解决该问题的一种有效的方法是在场景中添加标记以增加特征。文章提出一种在只含有位置信息的三维点云中自动检测二维标记的方法。该方法首先在三维场景添加黑色圆形薄纸片作为二维标记，利用区域增长法将获取的三维场景的点云数据分割成不同类别，然后基于随机抽样一致性算法的扩展方法依次对分割后的点云进行形状拟合，最后通过检测形状检测该二维标记。该方法能够有效地检测出三维场景中的二维标记，并避免了遮挡、形变等问题，为缺少特征的场景提供了简单可行的特征，可广泛应用于数据配准、物体识别、物体追踪、三维重建等领域。
특정검측재물체식별、수거배준등응용중구유지관중요적작용。동일장경중불동채집수거적배준화융합，필수이지혹자고산불동수거중적공동특정대응점。연이，허다장경결소유효대응특정점。해결해문제적일충유효적방법시재장경중첨가표기이증가특정。문장제출일충재지함유위치신식적삼유점운중자동검측이유표기적방법。해방법수선재삼유장경첨가흑색원형박지편작위이유표기，이용구역증장법장획취적삼유장경적점운수거분할성불동유별，연후기우수궤추양일치성산법적확전방법의차대분할후적점운진행형상의합，최후통과검측형상검측해이유표기。해방법능구유효지검측출삼유장경중적이유표기，병피면료차당、형변등문제，위결소특정적장경제공료간단가행적특정，가엄범응용우수거배준、물체식별、물체추종、삼유중건등영역。
Feature detection plays an important role in object detection and registration. For data registration, correspondences of different frames in the same scene should be found firstly. However, in many cases, there are not effective correspondences, which leads to incorrect registration. One of the effective solutions is to add marker manually in the scene. A method for detecting 2D marker (a black circle drew on paper for scene, hollow circular for point cloud) automatically in 3D point cloud (3D position information only) was proposed. First of all, add a 2D marker in real scene, and divide data set of 3D scene into segments by using region-growing segmentation. Then for each segment, detect 2D marker by extended RANSAC doing shape iftting. By this method, the 2D marker in 3D point cloud could be effectively detected without deforming or changing object. It provides simple and available features for the scene that is lack of features, laying a good foundation for next steps.