608 results about "Surface reconstruction" patented technology

The invention relates to the technical field of bridge engineering, in particular to a cable structure bridge design method adopting a BIM (Building Information Modeling) model, which comprises the steps of three-dimensional bridge foundation model construction, cable structure parameterization configuration, nonlinear mechanical simulation, construction error modeling, feedback optimization and the like. Through introduction of structured geological data and NURBS curved surface reconstruction, a geological-structure integrated model is realized. Adopting a genetic algorithm and a particle swarm optimization method to intelligently configure pile foundation and cable parameters; a construction error closed-loop adjustment mechanism is constructed through dynamic simulation and real-time tension feedback control; and finally, parameter correction write-back and BIM delivery model integration is realized. According to the invention, the design precision, the construction stage adaptability and the digital delivery integrity of the cable structure can be improved, and the method is suitable for cable structure bridge engineering with complex geology and high-precision control requirements.

The invention relates to the field of medical robots, and discloses a meridian point foundation construction method for precise positioning of an acupuncture robot, which comprises the following steps: scanning skin texture, muscle contour and skeleton mark features of a human body surface, and establishing a human body surface feature digital model; the method comprises the following steps: acquiring temperature distribution data of a human body surface, human body surface feature digital model data and elastic modulus data, performing weight mapping feature level fusion to generate an enhanced acupuncture point feature map, and establishing an acupuncture point-meridian association relationship matrix based on the enhanced acupuncture point feature map; compared with the prior art, the method has the advantages that three-dimensional body surface scanning, infrared thermal imaging and elastic modulus data are integrated through the multi-modal data fusion technology to generate the enhanced acupoint feature map, the dynamic meridian-acupoint twinborn model is constructed in combination with double-ellipse section fitting and implicit curved surface reconstruction, and tissue deformation is simulated in real time.

The invention relates to the technical field of rock mechanics, and discloses a rock three-dimensional reconstruction method and system based on multi-source information fusion, and the method comprises the steps: obtaining and preprocessing data, carrying out the spatial feature learning of a fusion feature vector through a 3D-CNN network, and constructing a three-dimensional voxel model of rock microscopic damage; converting the fused image data into a point cloud model of the underground cavern surrounding rock structure by adopting a three-dimensional reconstruction algorithm based on point cloud, and constructing a digital twin framework of the underground cavern surrounding rock structure based on an implicit surface reconstruction algorithm; feature parameters output by the three-dimensional voxel model and the digital twinning framework are used as input, and the optimal supporting opportunity and supporting parameters are output through an LSTM-CNN fusion model; in the underground engineering construction process, surrounding rock deformation data are collected in real time, and a supporting scheme is adjusted in real time through a depth deterministic strategy gradient algorithm; according to the method, the scientificity and timeliness of support design under complex geological conditions can be improved.

Disclosed in the present invention is a bridge scour curved surface morphological feature reconstruction method based on three-dimensional sonar point clouds, comprising the following steps: collecting point cloud data of a three-dimensional morphology of an underwater riverbed terrain near a bridge foundation, and acquiring original point cloud data of a complete morphology of an underwater riverbed; performing denoising and ball pivoting reconstruction preprocessing on the collected original point cloud data to complete preliminary reconstruction of point clouds; on the basis of the point cloud data having undergone preliminary reconstruction, performing point cloud binarization-based scour morphology recognition on the basis of a computer vision principle, calculating scour pit element classification values of all the point clouds, and recognizing scour pit point clouds; on the basis of the recognized scour pit point clouds, using a K-means clustering algorithm for clustering, and calculating the maximum depth of each pier scour pit; and on the basis of the obtained scour pit element classification values of all the point clouds, providing a curved surface reconstruction method based on scour recognition to perform high-precision curved surface reconstruction on the scour pits. The present invention can achieve high-precision scour pit morphology reconstruction.

The embodiment of the invention provides a scene surface reconstruction method and device, equipment and a medium, and relates to the technical field of computer graphics. The method comprises the following steps of: firstly, introducing an initialized three-dimensional Gaussian model, and determining attribute information and position information of two-dimensional Gaussian corresponding to three-dimensional anchor Gaussian by combining a multi-view image sequence of a target scene; secondly, utilizing the attribute information and the position information to generate a rendered image through a Gaussian splashing method; and then, according to the rendered image and an image with the same view angle as the rendered image in the multi-view image sequence, updating the initialized three-dimensional Gaussian model by minimizing a rendering loss function. And finally, depth information is determined according to the updated three-dimensional Gaussian model and the multi-view image sequence, and a surface model of the target scene is constructed through a three-dimensional reconstruction algorithm according to the depth information and the rendered image, so that the structure and details of the target scene can be reflected more accurately, the floating object phenomenon is avoided, and the accuracy of the target scene is improved. And the quality and the accuracy of scene reconstruction are obviously improved.

The invention provides a part surface efficient three-dimensional reconstruction method based on adaptive octree sampling, and belongs to the field of surface reconstruction. The part surface efficient three-dimensional reconstruction method based on self-adaptive octree sampling comprises the following steps of performing multi-stage filtering and denoising on collected point cloud data; octree nodes are adaptively divided according to local point cloud density and curvature features, the curvature of each node is calculated, feature region marking is carried out, voxel downsampling processing is carried out on non-feature regions, curvature weighted random sampling processing is carried out on feature regions (such as cracks and recesses), and high resolution of the regions is reserved; a multi-resolution space grid is generated based on octree hierarchy, a hierarchical symbol distance field is constructed, and the Poisson surface reconstruction process is accelerated. The method can be used in the fields of surface topography analysis, process optimization, quality control and the like, is particularly suitable for scenes requiring efficient and accurate surface topography detection, and has a wide application prospect.

The embodiment of the invention relates to the technical field of data modeling analysis, and discloses a tunnel rock stratum large deformation analysis method and system based on three-dimensional modeling, and the method comprises the steps: collecting initial three-dimensional point cloud data through three-dimensional laser scanning; constructing an initial three-dimensional geologic model containing spatial morphological characteristics and a rock stratum interface geometric topological relation through space coordinate matching and curved surface reconstruction; finite element unstructured mesh generation is carried out on the model, and a rock stratum mechanical analysis model is established in combination with physical and mechanical parameters; inputting construction parameters and process information, activating unit nodes in sequence, and solving a force balance equation to simulate stress distribution; identifying a potential deformation area through iterative calculation, and adjusting boundary conditions to predict a deformation trend; the three-dimensional space distribution cloud atlas, the time evolution curve and the position marks are fused to generate multi-view deformation early warning information, the accuracy and the visualization degree of tunnel rock stratum deformation analysis are improved, and support is provided for construction safety.

The invention discloses a storage intelligent monitoring and checking integrated system and method based on multi-technology fusion, and particularly relates to the technical field of storage monitoring, the system obtains environmental parameters and cargo data in real time through a multi-source data acquisition module, carries out cargo identification and segmentation by using YOLOv7 and Mask R-CNN, and carries out storage monitoring and checking on the cargo. A three-dimensional model is constructed in combination with a Poisson surface reconstruction algorithm to calculate volume weight, an environment anomaly analysis module generates an early warning signal through dynamic threshold and influence level evaluation, and an intelligent decision module fuses data to realize quantity anomaly alarm and multi-level response and outputs a three-dimensional visual inventory report. According to the method, the problems of multiple blind areas, low checking efficiency, slow abnormal response and the like of traditional storage monitoring are solved, full coverage of environment monitoring, high accuracy of goods identification, low error of volume calculation and intelligence of abnormal handling are realized, and the automation and digitization levels of storage management are remarkably improved.

The invention provides a chip bonding wire three-dimensional measurement method and system based on an inner cavity reflection camera system, and relates to the technical field of three-dimensional measurement. The method comprises the following steps: performing one-time exposure imaging on a chip bonding wire to be detected through an inner cavity reflection camera system to obtain at least three mutually independent visual angle images in the same frame; performing brightness normalization compensation and geometric calibration on the visual angle image to obtain a visual angle data set with uniform brightness and correlation; pairing the view angle data sets in pairs, extracting parallax information by using a feature matching algorithm based on optical flow, and fusing multiple pairs of parallax to generate a lead three-dimensional point cloud; performing noise filtering and curved surface reconstruction on the three-dimensional point cloud to obtain a continuous three-dimensional grid model of a lead; and performing texture mapping on the three-dimensional grid model by adopting any visual angle in the visual angle image or the combination of the visual angles, and outputting a lead three-dimensional reconstruction result with textures. According to the invention, high-precision, large-depth-of-field and rapid three-dimensional measurement of the chip bonding wire is realized.

The invention discloses a prediction method for quantifying the development degree of undermining diseases of rammed earth cultural relics, and relates to the field of cultural relic protection. The method comprises the steps of obtaining three-dimensional laser point cloud data and close photography three-dimensional model data of the rammed earth cultural relics; fusion of the three-dimensional laser point cloud model and the close photography three-dimensional model is realized, and a rammed earth cultural relic undermining disease three-dimensional model is constructed; based on the rammed earth cultural relic undermining disease stereoscopic model, quantitative indexes of undermining disease development are extracted, and an undermining disease development prediction model is constructed and optimized; and generating and outputting a quantitative report of the development degree of the undermining disease of the rammed earth cultural relics. According to the method, three-dimensional laser scanning and close photogrammetry are combined, differentiated routes are designed for areas with different heights, alignment of cross section contours of different models is realized based on Fourier description, a Poisson curved surface reconstruction technology is combined with a hole filling algorithm to complement missing parts of the models, spatial distribution and morphological characteristics of undercut diseases are intuitively presented, and the method is suitable for large-scale popularization and application. The change rule of undercut diseases along with time is quantified, and protection work is promoted to be changed from passive repair to active prevention.

The invention provides an intelligent toothbrush based on AI visual identification and an oral health assessment method, and relates to the technical field of artificial intelligence and computer vision. The intelligent toothbrush based on AI visual identification and the oral health assessment method comprise the following steps: S1, based on a built-in multispectral camera of the intelligent toothbrush, dynamically adjusting illumination parameters of different oral regions by adopting a visible light and near-infrared bimodal synchronous acquisition algorithm and through a self-adaptive exposure compensation technology, high-resolution images and transmission data of tooth surfaces and gingival lines are obtained, and a multi-mode oral cavity image data set is generated. Illumination parameters are dynamically adjusted through a multispectral camera to obtain high-resolution bimodal data, the focus detection precision is improved in combination with cross-modal feature fusion, the problem that traditional single-modal imaging is insufficient in early-stage dental caries recognition is solved, and the accuracy of early-stage dental caries recognition is improved based on laser radar point cloud complementation and a three-dimensional surface reconstruction technology. And mapping the two-dimensional focus label into a dynamic three-dimensional plaque distribution model.

The invention relates to the technical field of point cloud processing, and discloses a point cloud data processing method, system and device for industrial three-dimensional model construction. The method comprises the following steps: carrying out denoising and down-sampling processing on original point cloud data of an industrial part to obtain preprocessed point cloud data, calculating a local geometric descriptor, converting the local geometric descriptor into an industrial feature recurrent plot through a recurrent plot algorithm, inputting the recurrent plot into a convolutional neural network to extract a high-dimensional geometric feature vector, and mapping the feature vectors into B-spline curved surface control parameters through a deep belief network, and performing point cloud reconstruction quality evaluation according to the control parameters to obtain geometric accuracy error data and curved surface reconstruction integrity data. According to the method, the problems that in existing industrial three-dimensional model construction, a point cloud data processing method lacks intelligent feature recognition, the reconstruction precision is insufficient, and manufacturing constraints are not fully considered are solved, and the recognition accuracy of geometric features of complex industrial parts and the precision of three-dimensional model reconstruction are improved.

The invention discloses a multi-modal measurement system and method of a three-coordinate measuring machine, relates to the cross technical field of precision measurement, computer vision and intelligent manufacturing, and is used for solving the problems of low automation degree, strong subjective dependence and lack of assembly performance prediction capability in automobile covering part characteristic line detection. According to the method, point cloud data and positioning coordinates are synchronously collected through a multi-mode sensor, and a fusion point cloud sequence is generated through time sequence synchronization; constructing a high-precision three-dimensional point cloud model through noise filtering, registration and curved surface reconstruction; automatically extracting a feature line path based on curvature analysis and generating an analysis section; calculating a sharpness index through contour fitting, and generating a quality evaluation coefficient in combination with a CAD ideal model contour tolerance deviation; and finally, defects are identified through virtual assembly analysis, a sensor remeasurement path instruction is generated, and a quality report is output in combination with a quality coefficient, so that the detection precision, the efficiency and the assembly quality prediction capability in the measurement process of the three-coordinate measuring machine are improved.

The invention provides a cuttable interactive software simulation method and system based on a GPU accelerated substance point method, and belongs to the field of computer graphics physical simulation, and the method comprises the steps: S1, carrying out the sampling and initialization of a to-be-simulated three-dimensional software model and a rigid body model interacting with the to-be-simulated three-dimensional software model; s2, based on a virtual scene to be simulated, constructing an initial GPU secondary sparse acceleration structure Ggrid; s3, carrying out expansion on the Ggrid; s4, updating the state of the rigid body model, and constructing a rigid body cutting field of Ggrid; s5, on the basis of the Ggrid and the rigid body cutting field, the physical explicit integral of the three-dimensional software model to be simulated is solved in parallel, and the position of the lagrangian particle at the next moment is obtained; and S6, during the last iteration of each frame, reconstructing a surface triangular mesh of the Lagrange particle cluster in real time based on Ggrid, and smoothing the surface triangular mesh. According to the method disclosed by the invention, multi-material soft deformation, cutting interaction, crushing and real-time surface reconstruction are realized.

The invention provides an inspection-oriented structure three-dimensional model data optimization method, which comprises the following steps of: analyzing assembly body model data generated by a three-dimensional design platform, and extracting an original data set containing a BREP topological structure, PMI labeling information and a hierarchical relationship; dynamically removing welding nodes, process auxiliary lines and non-geometric attribute data; performing multi-precision curved surface reconstruction on the BREP entity; grid fusion optimization based on material attributes is implemented, triangular patches of the same material are combined, and a vertex index table is reconstructed; constructing a lightweight assembly relation tree, and converting the spatial poses of the parts into a relative coordinate system transformation matrix; generating a lightweight metadata file containing measurable geometric parameters; and outputting a JT format lightweight model which accords with the ISO 14306 standard. According to the technical scheme, on the premise that the model states before and after lightweight processing are consistent, the data size of the model can be reduced, reduction of the overall data size of the three-dimensional model is promoted, and the opening and loading speed of the called model is greatly increased.

The embodiment of the invention discloses a root canal feature form extraction method, device and equipment based on CBCT data and a medium, and belongs to the technical field of stomatology and medical image.The method comprises the steps that filtering denoising and dental pulp segmentation processing are carried out on a CBCT image, and surface drawing three-dimensional reconstruction is carried out on a tooth root canal to generate a three-dimensional model; based on regular point cloud data in the three-dimensional model, adopting a point-surface method to realize curved surface reconstruction, and generating a root canal entity model; and performing coordinate alignment processing on the root canal solid model in a three-dimensional space, and measuring the length of the root canal, the direction of a root canal orifice, the curvature of the root canal and the depth of dental pulp by fitting the approximate center line of the root canal. According to the method, the corresponding three-dimensional model is quickly reconstructed based on the CBCT cross-sectional image obtained by scanning the teeth of the patient, and related data such as the dental pulp depth and the size of the root canal orifice are acquired from the three-dimensional model of the teeth so as to assist the oral surgery.

The invention discloses a construction product style migration method based on a diffusion model and structure control, and belongs to the field of computer-aided industrial design. Obtaining a structure reference STEP model and a target style image, and respectively extracting feature token sequences of the structure and the style; splicing the structure and style feature token sequence as a mixed condition vector of the conditional diffusion model; when the model diffuses in a submerged space, decoupled double-path attention layers are used for calculating cross attention output of structure and style features respectively, time-varying weights are added to serve as cross attention output of hybrid conditions for decoupling coding, and a 2D rendering graph conforming to a target structure and style is generated through gradual de-noising. The conditional diffusion model is run a plurality of times to generate a batch of candidate 2D renders. And screening out a qualified 2D rendering graph based on NURBS curved surface reconstruction. According to the invention, a structure-style dual-condition control mechanism is adopted to realize accurate balance between high-fidelity style migration and engineering constraint.

The invention relates to the technical field of three-dimensional geological modeling and geological mapping data processing, in particular to an oblique photography three-dimensional surface model geological modeling system and method, and the system comprises a data collection module, a scene construction module, a boundary line processing module, a geologic body modeling module, a profile linkage module and a result output module. The data acquisition module fuses the oblique photography image and topographic data, and generates a three-dimensional earth surface model through a motion recovery structure algorithm; the geologic body modeling module constructs a closed geologic body through implicit curved surface reconstruction and constrained triangulation; a profile linkage module calls a graph neural network to predict a stratigraphic intersection line trend, and realizes two-dimensional and three-dimensional real-time synchronization based on event driving and sparse voxel hash mapping; and the result output module executes data verification and generates a multi-dimensional geological report. According to the scheme, dependence of a third-party tool is eliminated, geological mapping efficiency is improved, and the problem of section linkage delay is solved.

The invention discloses a medicine package online detection system based on three-dimensional reconstruction, and relates to the technical field of three-dimensional reconstruction, the system is matched with a binocular industrial camera through a numerical control rotary table to collect a double-view group covering the whole surface of a medicine package and containing an overlapping surface; carrying out feature point registration by adopting a polarization fusion SIFT algorithm, and positioning a packaging area through a model fusing packaging topology priori and edge gradient constraint; generating a disparity map based on a semi-global block matching algorithm, and combining camera calibration parameters with a rotary table rotation angle for splicing to obtain a complete packaging point cloud; a three-dimensional grid model is generated through Poisson curved surface reconstruction, accurate detection of surface concave-convex defects is achieved through curvature sudden change analysis and a tolerance threshold comparison method, and finally a defect information set is output and linked with a sorting mechanism to complete qualification judgment. The system can carry out full-surface and high-precision detection on medicine packages, is suitable for multi-specification packages, and meets the quality control requirements of industrial production.

The invention belongs to the technical field of image processing, and mainly relates to a teenager scoliosis detection method based on three-dimensional imaging, and the method comprises the steps: obtaining multi-modal data such as a back depth map, temperature distribution, an attitude angle and a plantar pressure matrix of a detected person through a depth camera, an infrared imaging device, an I MU sensor and a plantar pressure distribution sensor; the cloud platform generates a three-dimensional point cloud and obtains a back three-dimensional curved surface model by adopting a Poisson surface reconstruction algorithm, overall attitude correction is carried out by combining an attitude angle and pressure gravity center shift, and a thermal correction model of local deformation is constructed based on a thermodynamic diagram; automatically identifying spine segment mark points through a deep learning algorithm, fitting a spine center line, calculating a Cobb angle, judging the scoliosis degree and outputting an analysis report; according to the method, X-ray imaging is not needed, the detection safety is high, attitude, mechanical and thermal information can be fused, artificial attitude interference is reduced, and the method is suitable for early screening and dynamic reexamination of teenagers.

The invention relates to the technical field of terrain monitoring, and discloses a terrain change monitoring system based on image analysis, and the system is characterized in that an image obtaining module is used for obtaining multi-source image data, carrying out the fusion, and generating a fused image; the preprocessing module is used for preprocessing the fused image to obtain a preprocessed to-be-analyzed image; the analysis module is used for constructing a dual-channel deep convolutional network, analyzing the preprocessed to-be-analyzed image and detecting a topographic change area; the generation module is used for processing the detected terrain change area by adopting an incremental point cloud processing technology, and generating a three-dimensional terrain difference model and a settlement area volume change thermodynamic diagram in real time by combining a Poisson surface reconstruction algorithm; the early warning module is used for analyzing the generated three-dimensional terrain difference model and the volume change thermodynamic diagram, calculating parameters of terrain change and performing early warning processing; according to the method, the topographic change is accurately evaluated, and the accuracy and reliability of early warning are improved.

The invention discloses an innovative pit body volume detection system based on a three-dimensional laser scanning technology. Acquiring the volume point cloud information of the pit body by adopting a three-dimensional laser scanning technology; the volume is calculated through double-engine cross validation, two algorithms are used for cross validation, and it is ensured that the volume calculation result relative error meets the requirement; comprising the steps that a Matlab layered integral algorithm is adopted, specifically, discrete layered volume integration is achieved through elevation layered cutting, boundary polygon generation of a polyshape function and AlphaShape geometric reconstruction; and a Geomagic curved surface reconstruction algorithm: generating a watertight grid model based on an NURBS curved surface technology, and completing continuous volume calculation. According to the method, a non-contact measurement system is established, so that the measurement efficiency is greatly improved; a three-dimensional point cloud digital processing platform is created, full-process digitalization of scanning data automatic registration, boundary recognition and volume calculation and real-time visual output of measurement results are achieved, secondary errors caused by manual intervention are reduced, the project acceptance data traceability requirement is met, and the measurement comprehensive error rate is greatly reduced.

The invention belongs to the technical field of point cloud data reconstruction, and particularly relates to a robust three-dimensional reconstruction method based on weighted local curved surface approximation. The method comprises the following steps: firstly, preprocessing input three-dimensional point cloud data, constructing a neighborhood relationship, and fitting a local curved surface in a local neighborhood of each point through a least square method; secondly, calculating the influence weight based on the neighborhood information of the point, and calculating the position of a final curved surface point by adopting a weighted average method so as to optimize the geometric accuracy of a local curved surface; then, screening and removing abnormal points by using an abnormal weight elimination strategy based on a mean square error, reducing noise interference, and improving stability and robustness of curved surface reconstruction; and finally, through weighted average, the precision of overall curved surface fitting is improved, so that the reconstructed curved surface can more accurately fit the original point cloud data, and the reconstruction precision of the point cloud data is effectively improved.

The invention relates to the technical field of intelligent welding, and discloses an intelligent welding method and system for a curved surface of a corrugated plate of a container, and the method comprises the following steps: carrying out full-coverage scanning on the corrugated plate of the container by utilizing three-dimensional scanning equipment to obtain point cloud data of the corrugated plate of the container, and preprocessing the point cloud data; performing curved surface reconstruction by using the preprocessed point cloud data, generating a container corrugated plate curved surface three-dimensional model, and performing curved surface smoothing processing; an intelligent welding planning algorithm is adopted to generate an optimal welding path, and the container corrugated plate is welded through the optimal welding path; and performing welding defect identification on the welding seam state data by using a welding defect identification model, and feeding back and adjusting a welding mode based on a welding defect identification result. According to the method, the optimal welding track adapting to the geometric characteristics of the corrugated plate is generated in combination with intelligent path planning, the welding seam state is sensed in real time through the multi-mode sensor in the welding process, and the welding parameters and modes are dynamically adjusted.

The invention discloses a collected image recognition method and system for a surveying and mapping unmanned aerial vehicle, surveying and mapping image data and surveying and mapping point cloud data of a target surveying and mapping area are obtained through a multi-mode sensor carried by the unmanned aerial vehicle, and meanwhile, a time camera is used for capturing a motion signal of a dynamic target to generate event stream data; histogram equalization and multi-scale enhancement are carried out on the surveying and mapping image data, and voxel filtering and curved surface reconstruction are carried out on the surveying and mapping point cloud data; wavelet packet decomposition is utilized to extract frequency domain features of an image in the preprocessed acquisition data, and the frequency domain features are fused with motion trail features in event stream data; and inputting the mixed feature vector into a lightweight adaptive model, dynamically adjusting weights of different modes through an attention mechanism, and outputting a surveying and mapping result of the target surveying and mapping area. The information of the image in different frequencies and directions can be described more comprehensively and meticulously, and the surveying and mapping efficiency is effectively improved.

The invention relates to the technical field of data processing, and provides a BIM model continuous grid bottom surface extraction method, device and equipment and a storage medium, according to the scheme of the invention, grid bottom surface extraction is carried out based on a user-defined data structure after BIM model triangularization, the influence of a professional design software production environment and a multi-source heterogeneous storage format is eliminated, and universality is achieved; according to the method, the cleaned and corrected triangularized grid model is subjected to space division and an elevation extraction algorithm, so that the grid bottom surface extraction efficiency is greatly improved; according to the method, curved surface reconstruction is carried out according to the spatial point cloud normal set and the point cloud data set, so that the construction accuracy of grid bottom surface extraction in the projection direction is ensured, a finer and more continuous geometric expression is provided, and the problem of model bottom surface image missing is solved.

The invention discloses a target sheet identification method based on point cloud data, and belongs to the field of target sheet identification methods, and the method comprises the following steps: 1, collecting original point cloud data of a target range environment through a laser radar; step 2, anti-rain and anti-fog interference processing; step 3, carrying out gale shake compensation; 4, reconstructing a basic curved surface, and executing random sampling consistency plane fitting; step 5, enhancing and reconstructing a wrinkle region, specifically, detecting a region with a curvature change rate of greater than 0.05 mm <-2 > on the basic curved surface; marking as a to-be-enhanced area and transmitting to a sub-curved surface processing flow; step 6, bullet hole identification: calculating the local curvature of the point cloud, and screening abrupt change points of which the curvature values are greater than 0.25 mm <-1 >; fitting the three-dimensional coordinates of the bullet hole by adopting a least square method; and step 7, outputting target sheet attitude parameters and bullet hole ring values. According to the invention, interference of rain, fog and strong wind can be reduced, and identification precision is improved.

The invention discloses a dragging positioning spraying track planning method for a local area of the surface of special equipment and a storage medium, and belongs to the technical field of industrial robot automation. The method comprises the steps of obtaining point set data of a to-be-sprayed area; calculating a convex hull based on the point set, and solving a minimum enclosing rectangle by using a rotary caliper method to determine an accurate rectangle spraying boundary; constructing a rectangular amplitude limiting sedimentary model through spraying testing and parameter identification; generating a grid track with a buffer area based on the model and the boundary, and optimizing the spraying speed by taking the minimization time as a target; and for the curved surface, performing B-spline curved surface reconstruction and extracting a normal vector to control the attitude of the spray gun. According to the method, the complex multi-parameter trajectory optimization problem is simplified into single-speed optimization through the rectangular amplitude limiting deposition model, the problems that in local spraying, trajectory planning is complex, edge control is not precise, a coating is not uniform and the like are effectively solved, and the spraying efficiency and quality are remarkably improved.

The present application relates to a geographic mosaicking method and apparatus for video images, and a computer device and a storage medium. The method comprises: acquiring real-time live streaming images of a real-world scene that are collected by a plurality of unmanned aerial vehicles, and GNSS information of the plurality of unmanned aerial vehicles; using a visual SLAM algorithm to perform input frame tracking on the real-time live streaming images, and performing pose estimation on successfully tracked input frames by combining visual trajectories and the GNSS information, so as to generate georeferenced camera poses; using the camera poses and a surface reconstruction algorithm to perform densification processing on the input frames, so as to generate a depth map of the real-world scene, and mapping the depth map into dense three-dimensional point clouds, so as to construct a three-dimensional surface model of the real-world scene; and using the camera pose and the three-dimensional surface model to perform orthorectification on the input frames, and integrating the orthorectified input frames into a global mosaicked map, so as to generate a global image of the real-world scene. By means of the embodiments of the present application, a real-time picture of a real-world scene can be quickly acquired, thereby providing robust support for a rapid emergency response in a real-world scene.