Point cloud meshing method, apparatus, device and computer storage media

Patent metadata

Field	Value
Publication number	US-10706622-B2
Application number	US-201816157038-A
Country	US
Kind code	B2
Filing date	Oct 10, 2018
Priority date	Oct 11, 2017
Publication date	Jul 7, 2020
Grant date	Jul 7, 2020

Abstract

A method, an apparatus, a device and a computer storage media for point cloud meshing are provided. The method includes performing a mesh reconstruction on point cloud data corresponding to a target object to obtain a reconstruction model for characterizing a surface contour of the target object; performing image registration on the reconstruction model with respect to a standard model corresponding to the target object; determining a mesh portion in the registered reconstruction model that does not overlap with the standard model; and removing the determined mesh portion from the registered reconstruction model to obtain a resulting reconstruction model of the target object. The point cloud meshing method repairs a hole structure of an object surface without the need of post-editing manually, and thus is able to improve the efficiency of repairing the hole structure of the object surface.

First claim

What is claimed is:

1. A method implemented by one or more computing devices, the method comprising:
performing a mesh reconstruction on point cloud data corresponding to a target object to obtain a reconstruction model for characterizing a surface contour of the target object;
determining a type of the target object;
determining a standard model of the target object based on the type of the target object;
performing image registration between the reconstruction model and the standard model;
determining a mesh portion in the registered reconstruction model that does not overlap with the standard model by setting a difference operation result that is obtained by performing a three-dimensional graphic Boolean operation on the registered reconstruction model and the standard model as the mesh portion of the registered reconstruction model that does not overlap with the standard model; and
removing the determined mesh portion from the registered reconstruction model to obtain a resulting reconstruction model of the target object.

2. The method of claim 1 , wherein the standard model is a generic appearance model of the type to which the target object belongs.

3. The method of claim 1 , wherein performing mesh reconstruction on the point cloud data corresponding to the target object comprises meshing and reconstructing the point cloud data corresponding to the target object based on a Poisson reconstruction algorithm.

4. The method of claim 1 , wherein performing the image registration between the reconstruction model and the standard model comprises performing the image registration on the reconstruction model with respect to the standard model through texture features of a surface of the target object.

5. The method of claim 1 , wherein performing the image registration between the reconstruction model and the standard model comprises performing the image registration on the reconstruction model with respect to the standard model through structural features of the target object.

6. The method of claim 1 , wherein performing the image registration between the reconstruction model and the standard model comprises performing the image registration on the reconstruction model with respect to the standard model through reference points that are set on a surface of the target object.

7. An apparatus comprising:
one or more processors;
memory;
a reconstruction module stored in the memory and executable by the one or more processors to perform a mesh reconstruction on point cloud data corresponding to a target object to obtain a reconstruction model for characterizing a surface contour of the target object;
a registration module in the memory and executable by the one or more processors to:
determine a type of the target object,
determine a standard model of the target object based on the type of the target object,
perform image registration between the reconstruction model and the standard model;

a determination module in the memory and executable by the one or more processors to determine a mesh portion in the registered reconstruction model that does not overlap with the standard model, the determination module used for setting a difference operation result that is obtained by performing a three-dimensional graphic Boolean operation on the registered reconstruction model and the standard model as the mesh portion of the registered reconstruction model that does not overlap with the standard model; and
a removal module in the memory and executable by the one or more processors to remove the determined mesh portion from the registered reconstruction model to obtain a resulting reconstruction model of the target object.

8. The apparatus of claim 7 , wherein the reconstruction module is used for meshing and reconstructing the point cloud data corresponding to the target object based on a Poisson reconstruction algorithm.

9. The apparatus of claim 7 , wherein the registration module is used for performing the image registration between the reconstruction model and the standard model corresponding to the target object through texture features of a surface of the target object.

10. The apparatus of claim 7 , wherein the registration module is used for performing the image registration between the reconstruction model and the standard model corresponding to the target object through structural features of the target object.

11. The apparatus of claim 7 , wherein the registration module is used for performing the image registration between the reconstruction model and the standard model corresponding to the target object through reference points that are set on a surface of the target object.

12. One or more computer readable media storing executable instructions that, when executed by one or more processors, cause the one or more processors to perform acts comprising:
performing a mesh reconstruction on point cloud data corresponding to a target object to obtain a reconstruction model for characterizing a surface contour of the target object;
determining a type of the target object;
determining a standard model of the target object based on the type of the target object;
performing image registration between the reconstruction model and the standard model;
determining a mesh portion in the registered reconstruction model that does not overlap with the standard model by setting a difference operation result that is obtained by performing a three-dimensional graphic Boolean operation on the registered reconstruction model and the standard model as the mesh portion of the registered reconstruction model that does not overlap with the standard model; and
removing the determined mesh portion from the registered reconstruction model to obtain a resulting reconstruction model of the target object.

13. The one or more computer readable media of claim 12 , wherein the standard model is a generic appearance model of the type to which the target object belongs.

14. The one or more computer readable media of claim 12 , wherein performing mesh reconstruction on the point cloud data corresponding to the target object comprises meshing and reconstructing the point cloud data corresponding to the target object based on a Poisson reconstruction algorithm.

15. The one or more computer readable media of claim 12 , wherein performing the image registration between the reconstruction model and the standard model comprises performing the image registration on the reconstruction model with respect to the standard model through texture features of a surface of the target object.

16. The one or more computer readable media of claim 12 , wherein performing the image registration between the reconstruction model and the standard model comprises performing the image registration on the reconstruction model with respect to the standard model through structural features of the target object.

17. The one or more computer readable media of claim 12 , wherein performing the image registration between the reconstruction model and the standard model comprises performing the image registration on the reconstruction model with respect to the standard model through reference points that are set on a surface of the target object.

Assignees

• Alibaba Group Holding Ltd

Inventors

• Wang Bin
• Yu Jingming
• Feng Xiaoduan
• Pan Pan
• Jin Rong

Classifications

• G06T17/20 Primary

  Finite element generation, e.g. wire-frame surface description, {tesselation} · CPC title

• G06T2207/10028

  Range image; Depth image; 3D point clouds · CPC title

• G06T15/205

  Image-based rendering · CPC title

• G06T2215/06

  Curved planar reformation of 3D line structures · CPC title

• G06T15/005

  General purpose rendering architectures · CPC title