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Unmarked planar flexible body deformation tracking method based on NURBS

A flexible body and marker-free technology, which is applied in image analysis, program control manipulator, image enhancement, etc., can solve the problems that affect the recognition accuracy of the deformation state of planar flexible bodies, and cannot effectively track the deformation of deformed bodies.

Inactive Publication Date: 2019-08-16
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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  • Application Information

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Problems solved by technology

There are mainly limitations in the following aspects: for planar flexible bodies with few features, the deformation of deformable bodies cannot be effectively tracked; the occlusion of features affects the accuracy of the deformation state recognition of planar flexible bodies

Method used

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  • Unmarked planar flexible body deformation tracking method based on NURBS
  • Unmarked planar flexible body deformation tracking method based on NURBS
  • Unmarked planar flexible body deformation tracking method based on NURBS

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Embodiment Construction

[0019] The invention proposes a NURBS-based deformation tracking algorithm for a surface-like flexible body without markers. Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0020] figure 1 It is the acquisition scheme of the point cloud of the unmarked planar flexible body described in the present invention. In the present invention, after the original point cloud containing the point cloud of the planar flexible object is obtained through the Kinect depth camera, the point cloud of the target planar flexible object needs to be segmented through a certain process. Unmarked planar flexible bodies are solid in color and have no distinctive features. Taking advantage of the fact that the object is a solid color, the color can be used to segment the point cloud containing the target flexible body from the original point cloud. The point cloud in KinectV2 contains XYZ information and RGB information...

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Abstract

The invention relates to an unmarked planar flexible body deformation tracking method based on NURBS. The method comprises the following steps that 1, after an original point cloud containing a planarflexible object point cloud is obtained through a Kinect depth camera, a point cloud of a target planar flexible body needs to be segmented through a certain process, and a noise point cloud in the space is removed through radius filtering or statistical filtering, so that a pure target point cloud is obtained; 2, the obtained target point cloud is initialized to obtain an initial NURBS curved surface; 3, an approximate NURBS curved surface is generated through curved surface fitting, the NURBS curved surface is composed of tensor products of the two NURBS curved surfaces, and the NURBS curved surface fitting result is obtained through a curved surface fitting method for the two NURBS curved surfaces; and 4, the curved surface fitting of the unmarked surface-mounted flexible body is completed, and the variation of a certain point on the rear surface-mounted flexible body before and after deformation is obtained through an NURBS Debull algorithm.

Description

technical field [0001] The invention belongs to the technical field of a deformation tracking method of a flexible body, in particular to a NURBS-based method for tracking the deformation of a non-marking surface fleshy body. Background technique [0002] The existing tracking algorithms for the deformation of planar flexible bodies mainly identify the features on the planar flexible body to complete the deformation tracking of the flexible body. There are mainly limitations in the following aspects: the deformation of the planar flexible body with few features cannot be effectively tracked; the occlusion of features affects the accuracy of the deformation state recognition of the planar flexible body. Contents of the invention [0003] In order to overcome the deficiencies of the prior art, the present invention proposes a NURBS-based deformation tracking method for an unmarked planar flexible body, which tracks the deformation of an unmarked planar flexible body based on...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/246G06T7/11G06T7/90B25J9/02B25J9/16
CPCB25J9/023B25J9/1651B25J9/1653B25J9/1697G06T7/11G06T7/251G06T7/90G06T2207/10028
Inventor 姜欣李孟原刘云辉
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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