光学学报, 2020, 40 (18): 1815001, 网络出版: 2020-08-28
采用空间投影的深度图像点云分割 
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Depth Image Point Cloud Segmentation Using Spatial Projection
图 & 表
图 1. 靶标世界坐标系与点云区域。(a)世界坐标系;(b)目标坐标系;(c)目标有效区域确定
Fig. 1. Target world coordinate system and point cloud region. (a) World coordinate system; (b) target coordinate system; (c) determination of target effective region
图 4. 三个场景图及其对应的点云图。(a)~(c)场景图;(d)~(f)点云图
Fig. 4. Three scene images and corresponding point clouds. (a)--(c) Scene images; (d)--(f) point clouds
图 5. 场景1#点云分割。(a)校正后的图像;(b) Otsu阈值分割; (c)图像阈值分割的点云;(d)建立的世界坐标系;(e)补偿后的点云;(f)靶标坐标系分割的点云;(g)新2D图像;(h)膨胀后的图像;(i)分割后的感兴趣区域;(j)空间投影分割的点云
Fig. 5. Point cloud segmentation of scene 1#. (a) Corrected image; (b) Otsu threshold segmentation; (c) point clouds after image threshold segmentation; (d) established world coordinate system; (e) point clouds after compensation; (f) segmented point clouds in target coordinate system; (g) new 2D image; (h) dilated image; (i) segmented ROI image; (j) segmented point clouds by spatial projection
图 6. 4种方法在三个场景下的点云分割结果对比。(a)~(c)算法I; (d)~(f)算法II; (g)~(i)算法III; (j)~(l)算法Ⅳ
Fig. 6. Comparison of point cloud segmentation results for three scenes obtained by four methods. (a)--(c) Algorithm I; (d)--(f) algorithm II; (g)--(i) algorithm III; (j)--(l) algorithm Ⅳ
图 7. 不同结构类型与点云膨胀结构元素数值下的分割点云数
Fig. 7. Number of segmented point clouds under different structure types and point cloud expansion structural element values
图 8. 点云膨胀结构元素数值对点云分割的影响。(a)数值为3;(b)数值为4;(c)数值为5;(d)数值为6
Fig. 8. Influence of point cloud expansion structural element value on point cloud segmentation result. (a) Value is 3; (b) value is 4; (c) value is 5; (d) value is 6
表 14种方法分割的点云数量和算法耗费时间对比
Table1. Comparison of numbers of segmented point clouds and execution time of four segmentation methods
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郭清达, 全燕鸣. 采用空间投影的深度图像点云分割[J]. 光学学报, 2020, 40(18): 1815001. Qingda Guo, Yanming Quan. Depth Image Point Cloud Segmentation Using Spatial Projection[J]. Acta Optica Sinica, 2020, 40(18): 1815001.
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