基于Kinect环境平面特征提取与重构.docVIP

基于Kinect环境平面特征提取与重构 　　摘要：针对三维场景物体特征识别过程中数据量大、算法复杂等问题，提出一种基于Kinect的环境平面特征提取与重构算法。首先，针对场景的点云分割，采用融合场景几何信息和颜色信息的随机采样一致性（RANSAC）算法，综合二者分割优势，克服几何特征分割过程中分割不足或者过分割，提高分割精度；其次，根据投影变换原理推导出相应的三维坐标变换矩阵，指导分割后独立区域内的三维平面特征信息到二维空间映射，利用凸包概念搜索物体边界信息，实现二维空间的轮廓点提取；最后，通过旋转逆变换，恢复轮廓点的三维信息，完成环境特征重构。采用3组场景数据验证所提算法，实验结果表明，所提算法分割较精确，不容易产生过分割的情况，对不同形状特征的物体，具有较好的重构效果。 　　关键词：Kinect；平面分割；轮廓提取；平面重构 　　中图分类号：TP391.41 文献标志码：A 　　Abstract：Aiming at the problem of the large amount of data and the complicated algorithm in 3D scene feature recognition process， an feature extraction and reconstruction of environmental plane algorithm based on Kinect was proposed. Firstly， a method of RANdom SAmple Consensus （RANSAC） environment segmentation with the combination of geometrical and color information was proposed， which overcame the over segmentation and lacksegmentation based on geometric characteristic and improved the accuracy. Secondly， according to the principle of perspective projection， the threedimensional transformation matrix was derived， which guided the 3D environment mapped into a plane. The extraction of contour points in twodimensional space was realized by searching object boundary information which used convex hull concept. Finally， the 3D information of the contour points was recovered by the rotating inverse transform and the reconstruction of environment features was completed. Three groups of scene data were used to verify the algorithm and the experimental results show the proposed algorithm gains more precise segmentation， reduces over segmentation phenomena， and also has better reconstruction effect for objects with different shape features. 　　Key words：Kinect； plane segmentation； contour extraction； feature reconstruction 　　0 引言 　　环境特征提取是移动机器人导航技术研究热点，机器人要在未知环境中完成导航、自主抓取等服务功能，必须对其周围环境有明确的了解，而室内三维环境特征重构为其提供了更为丰富可靠的环境信息，机器人可以根据重构信息决策自己的任务，实现与周围环境的交互[1-3]。 　　环境重构的方法根据使用的传感器不同可分为基于结构光的重构和基于机器视觉的重构。基于结构光的扫描设备，如激光扫描仪，是采用非接触式点测量的方法实时获得周围环境的三维空间信息[4-6]。但是此类设备体积大，价格昂贵，而且采集的数据量较大，限制了其在