2938 results about "Voxel" patented technology

The invention discloses a BIM model automatic generation method and system based on point cloud data, and belongs to the field of building information modelling, and the transmission method comprises the steps: obtaining original point cloud data, and employing a filtering algorithm based on point cloud density adaptive adjustment to carry out the preprocessing of the point cloud data; constructing a voxel octree structure for the preprocessed point cloud data, and performing semantic classification on the point cloud; geometric modeling is carried out based on the segmented point cloud subsets, and a fitting algorithm is adopted to carry out shape completion on a point cloud area; semantic annotation is carried out on the components subjected to geometric reconstruction, a corresponding relation between component types and spatial attributes is constructed, fusion features based on a point feature histogram and a local curvature are adopted, and classification is carried out; a standard BIM component family is converted, and a three-dimensional BIM model is constructed through the mapping relation. According to the method, the voxel octree data structure and the deep semantic segmentation neural network model are combined, division and semantic recognition are performed on the point cloud data, the intelligent degree of the model is improved, and manual intervention is reduced.

The invention discloses a dynamic scene three-dimensional reconstruction method and device based on hydrogen energy unmanned aerial vehicle survey, and the method comprises the steps: obtaining dense time sequence multi-view image data of a target region through a hydrogen energy unmanned aerial vehicle platform, and carrying out the preprocessing of radiation correction and geometric correction; carrying out optical flow analysis and deformation rate clustering on the preprocessed image, identifying a pseudo-static anchor point and constructing a dynamic reference field; introducing a dynamic reference field as a soft constraint in a binding adjustment process, and optimizing a camera pose to generate a three-dimensional point cloud with consistent time and space; and finally, mapping the point cloud to a space-time voxel grid, constructing a surface evolution model by using a graph neural network or an anisotropic diffusion algorithm, and calculating a surface deformation vector to realize continuous and high-precision three-dimensional reconstruction of the disaster scene surface deformation process.

The invention discloses an indoor three-dimensional point cloud semantic segmentation method based on a super voxel Transform architecture, and belongs to the technical field of map making. The method comprises the following steps: acquiring point cloud data of different scenes, preprocessing the point cloud data, and constructing a training sample set; constructing a neural network for indoor three-dimensional point cloud semantic segmentation; training the neural network; and obtaining indoor three-dimensional point cloud data to be segmented, preprocessing the point cloud data, inputting the point cloud data into the trained neural network, outputting a super-voxel category probability and confidence, mapping a super-voxel label back to the original point cloud, and completing semantic segmentation of the indoor three-dimensional point cloud. According to the method, efficient dimension reduction and local feature aggregation of the point cloud are realized through a hierarchical structure of the super voxels, global semantic association is modeled in combination with a self-attention mechanism of Transform, semantic segmentation can be better performed on the indoor three-dimensional point cloud, and various indoor application requirements are met.

The invention relates to the technical field of bridge bearing capacity evaluation, and discloses an existing continuous beam bridge bearing capacity comprehensive evaluation method which comprises the steps that multi-source data are collected to construct a three-dimensional damage voxel field, and an initial finite element model is generated; simulating a heavy load identification control section, and designing an equivalent static load test scheme according to an equivalent internal force principle; executing a field static load test, collecting elastic response data and constructing an actual measurement response vector; calculating errors and iteratively adjusting parameters in a voxel field constraint range to finish model correction; and generating an operation space-time security envelope based on the correction model, and comparing the state in real time to output a control instruction. A three-dimensional damage voxel field is constructed, voxels are used as a normalized data carrier, discrete apparent and internal damage data such as three-dimensional laser scanning point cloud, ultrasonic velocity and rebound strength are mapped into a continuously distributed space field, and the space variability of the rigidity of an existing bridge material can be represented in a refined mode. And the accuracy of describing the physical current situation of the structure by the initial finite element model is improved.

The invention discloses a complex terrain three-dimensional modeling and earthwork volume calculation method based on a multi-source fusion point cloud, belongs to the technical field of surveying and mapping and engineering surveying, and mainly solves the problems of low terrain modeling precision and insufficient earthwork calculation efficiency in a complex scene. The method comprises the following steps: constructing a ground-air integrated multi-source sensing network to synchronously acquire laser point cloud, multi-view images and positioning data; adopting PointNet + +-based initial registration and multi-scale ICP fine registration fusion to generate a unified point cloud; combining semantic segmentation and penetration probability filtering to accurately extract a digital elevation model; constructing a similar triangular prism voxel model by using a constrained Delaunay triangulation network; and finally, the earth volume is rapidly calculated by adopting a GPU parallel voxel cutting and filling algorithm, so that high-precision terrain modeling and rapid engineering quantity calculation are realized, and the method can be efficiently and reliably applied to large-scale projects such as roads and mines.

The invention discloses a road cavity volume calculation method and device based on a three-dimensional FK migration algorithm, equipment and a medium, and relates to the technical field of road cavity detection, and the method comprises the steps: obtaining three-dimensional ground penetrating radar data, and carrying out the preprocessing of the data, and obtaining target radar data; converting the target radar data to a frequency wavenumber domain to obtain frequency wavenumber domain radar data; establishing a road hierarchical velocity model, and performing hierarchical wave field extrapolation and double weight correction based on the frequency wave number domain radar data and the road hierarchical velocity model to obtain corrected wave field data; performing sparse constraint optimization imaging processing on the corrected wave field data to obtain a target imaging result; and carrying out boundary extraction processing on the target imaging result to obtain a three-dimensional cavity boundary point set, and carrying out voxelization processing based on the three-dimensional cavity boundary point set to obtain a road cavity volume. According to the invention, high-precision restoration of the shape of the road cavity and automatic extraction of the volume can be realized in three-dimensional GPR imaging.

In one implementation, point cloud data for a point cloud is decoded. The decoder obtains features representing voxels in a tree structure, where feature for a current voxel is representative of at least a set of voxels that are still to be reconstructed. The decoder then determines an occupancy probability of the current voxel based on the feature, and decodes occupancy information of voxels in the tree structure, where whether a current voxel is occupied or not is decoded based on the occupancy probability for the current voxel. The point cloud can be reconstructed based on the occupancy information. On the encoder side, the feature for the current voxel is obtained from the voxels that are still to be encoded and encoded into a bitstream.

The invention discloses a machine learning-based weld defect intelligent identification system, relates to the technical field of weld defect intelligent identification, solves the technical problems of multi-modal data fusion precision and robustness optimization and defect shielding or overlapping feature deficiency, and provides a machine learning-based weld defect intelligent identification method based on PSNR dynamic parameter adjustment and gradient weight optimization. The limitation of existing fixed parameter denoising is solved, the edge feature retention rate of cracks, air holes and other defects is improved, the omission ratio is reduced, improved DeepLabv3 + segmentation semantic masks are introduced and mapped to point cloud voxels, geometric + semantic double-attribute enhanced point clouds are formed, the defect area positioning accuracy is improved, and through a cross-modal attention module, the defect area positioning accuracy is improved. Weights are dynamically distributed according to illumination intensity and workpiece materials, feature waste caused by fixed weights is avoided, depth mutation and a shielding area with semantic defects are positioned by utilizing depth information of enhanced point cloud, real overlapping and projection overlapping can be effectively distinguished by combining an improved Poisson fusion algorithm, and the overlapping defect recognition accuracy is improved.

The invention discloses a goaf collapse risk assessment data fusion system based on big data processing, and particularly relates to the technical field of geological disaster assessment, and the system comprises three core modules: a multi-source data adaptive weighted fusion module which establishes a unified space-time coordinate system, converts non-raster data into a continuous field through Kriging interpolation, and performs data fusion on the continuous field; combining the information entropy and the correlation coefficient to dynamically distribute weights, and generating an enhanced feature field through self-supervised pre-training; the physical-space-time neural network dynamic prediction module is integrated with elastic-plastic mechanical constraint loss and multi-task learning, and outputs a future multi-time step risk probability field and a deformation prediction field through a space-time convolution-memory network; and the risk field three-dimensional subdivision and emergency response module is used for clustering three-dimensional voxels in a high-risk area, automatically calculating risk body parameters, generating an emergency scheme in combination with DEM data and an A * algorithm, and improving evaluation accuracy and emergency scheme practical operability through digital twinborn deduction evaluation.

The invention provides an automatic operation process management method and device based on multi-sensor fusion, and relates to the technical field of automatic processes, and the method comprises the steps: constructing an instrument pose flow and operation field geometric model under a unified coordinate system through unified timestamp alignment and spatial geometry solution of multi-source sensor data; semantic segmentation and three-dimensional reprojection are combined to generate a shielding probability graph, cross-channel compensation reconstruction is carried out, and the image integrity is improved. And forming a conflict risk set through voxel field discretization and short-time prediction, and performing combined solution with standardized operation process constraints to generate a scheduling instruction and a safety time window. And finally, mapping the image, the pose and the physiological signal to a knowledge graph, and outputting consistency judgment and deviation correction suggestions in combination with a time sequence attention recognition process node. According to the method, the problem that the operation process management is not accurate enough due to the problems of view overlapping and the like of multi-source sensor data can be solved.

Some embodiments of a method may include: decoding a motion feature by accessing a motion bitstream; predicting a predicted feature based on the motion feature and one or more reference point cloud frames; decoding a first feature representing an occupancy status of a child level voxel; predicting a second feature based on the first feature and the predicted feature; and decoding a tree voxel occupancy status of the child level voxel via the second feature.

The invention discloses a Parkinson's dyskinesia individualized SCAN network positioning method based on a multi-modal image and deep learning. The method comprises the steps of obtaining multi-modal medical image data, preprocessing the multi-modal medical image data, obtaining a multi-modal structure image and functional connection data, and calculating a spontaneous neural activity index of a whole-brain voxel level; taking a priori brain region related to the spontaneous neural activity index and dyskinesia as a seed point, constructing a seed point voxel function connection graph representing individual brain function connection, and performing nonlinear feature fusion and extraction through the deep learning network model; the bilinear attention network is adopted to capture the interaction information of the feature data and the individual dyskinesia symptom which is significantly related, an individualized SCAN network positioning result is obtained, the structure-function coupling characteristics of the individual brain are comprehensively described, the cross-modal pathological features related to the dyskinesia can be more sensitively recognized, and the accuracy and accuracy of the diagnosis and treatment of the dyskinesia can be improved. And the accuracy and robustness of abnormal brain region detection are obviously improved.

The invention provides a semantic aerial view visual relocation method and device in a non-exposed scene, electronic equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring a multi-view image sequence under a non-exposed scene (such as a tunnel, an underground pipe gallery or an underground parking lot); semantic recognition is carried out based on a pre-trained semantic target detection model, and spatial consistency semantic features are extracted through a semantic-geometric dual-channel fusion mechanism combining a semantic mask and geometric constraints; the method comprises the following steps of: realizing three-dimensional reconstruction by using a voxel micro-renderable modeling method (VGGT), and generating a dense three-dimensional semantic point cloud fusing semantics and a geometric structure; two-dimensional semantics are mapped to a three-dimensional space through a projection and back projection relation, and point cloud semantics are endowed; main structure planes such as the ground, the left wall surface and the right wall surface are extracted, and a two-dimensional semantic aerial view with semantic annotation is generated; and pose estimation is carried out based on a reciprocal matching strategy guided by a semantic mask, so that visual repositioning with high precision, high robustness and semantic interpretability is realized. The method breaks through the problems of low precision, sparse features and poor semantic consistency of traditional visual repositioning in a non-exposed environment, and can be widely applied to the fields of intelligent transportation, underground inspection and unmanned system positioning.

The invention provides a low-altitude space path planning method and system, and relates to the technical field of low-altitude space management and path planning, and the method comprises the steps: S1, dividing a target airspace into a plurality of levels of three-dimensional voxels, and generating a unified-level three-dimensional code for each voxel; s2, voxelizing a task starting point, a task ending point and constraint elements based on unified hierarchical three-dimensional coding to generate a confinement three-dimensional corridor so as to limit a subsequent search space; s3, in the confinement three-dimensional corridor, hierarchical path search from the coarse hierarchy to the target hierarchy is executed, and a discrete path is output; s4, when the dynamic change of the environment is detected, performing increment re-planning on the basis of the discrete path, and updating the affected local path; and S5, smooth processing and safety verification are carried out on the discrete path or the updated path, and a final continuous flight path is generated. According to the invention, the real-time performance, the safety and the verifiability of the low-altitude flight task path can be realized.

According to the BIM-based construction process monitoring and early warning system provided by the invention, the data acquisition dimension and precision are remarkably improved through multi-source sensing fusion of millimeter-wave radar, multispectral imaging and voiceprint recognition; feature vector voxel units carrying material characteristics and process constraints are adopted, so that risk early warning has space-time relevance and process interpretability; through a composite risk calculation model containing environmental interference correction and time-varying gradient, the problem that a traditional threshold value method is poor in adaptability to complex working conditions is solved; the holographic early warning mechanism realizes upgrading from sound-light alarm to touch sense-three-dimensional projection cooperative interaction; the double-circulation self-optimization system not only guarantees real-time control, but also realizes block chain evidence storage of empirical data, and finally forms a construction monitoring closed-loop system with space-time perception, intelligent decision, accurate early warning and sustainable evolution capabilities.

The invention relates to the technical field of computer-aided manufacturing, and provides a staged processing real-time cutting simulation method and system.The method comprises the steps that S1, initialization modeling is conducted, specifically, a blank voxel grid model, a tool body voxel grid and a triangular grid are built; s2, performing a first simulation stage of low-precision real-time cutting dominated by voxel grids, judging a space overlapping relationship between the tool body voxel grids and the blank voxel grids in real time so as to determine a voxel region to be removed, and deleting blank voxels in the overlapping region through Boolean operation; s3, in the execution process of the first simulation stage, monitoring a preset multi-dimensional switching trigger condition in real time, and when any condition or a combination of multiple conditions is met, entering a second simulation stage; and S4, a second simulation stage of high-precision real-time cutting with the triangular network as the dominant is carried out, the voxel grid intermediate workpiece is converted into a transition triangular grid, and high-precision cutting calculation is carried out based on the triangular grid. And the efficiency-precision contradiction is broken through through a staged strategy.

The invention discloses an uncertainty mapping method and device based on selective learnable depreciation, and the method comprises the steps: S1, collecting color images and depth maps at different time points, and projecting the color images and the depth maps to a three-dimensional coordinate system; s2, predicting an evidence vector for each pixel by using an evidence generation network; s3, calculating total evidence intensity based on the evidence vector, and defining credibility and uncertainty based on the total evidence intensity; s4, constructing a noise mask to represent the observation quality, and predicting a damage coefficient by using a selective damage network; s5, the evidence intensity is adjusted in a zooming and depreciation mode; and S6, outputting a final probability, carrying out basic probability distribution of multi-frame fusion observation on the three-dimensional voxel grid, and constructing a semantic map containing uncertainty estimation. According to the method, the conflict rate and uncertainty in the semantic map fusion process can be effectively reduced, and the accuracy and credibility of the map are remarkably improved.

The invention discloses a water vapor chromatography modeling method and device based on GNSS-MET, and belongs to the technical field of atmospheric water vapor information inversion. According to the method, satellite signals and meteorological parameters are obtained through a GNSS-MET receiver, and the oblique path water vapor content (SWV) is calculated to serve as chromatography input; densely and uniformly distributed observation stations are selected to construct a chromatography area, and voxel grids are divided; a horizontal constraint is constructed by using Gaussian distance weighting, a vertical constraint is constructed in combination with a water vapor vertical index distribution characteristic, and ERA5 reanalysis data is introduced as a prior constraint, so that the limitation of a traditional sounding data constraint is solved; and resolving the tomographic equation through a singular value decomposition (SVD) method to obtain three-dimensional water vapor density distribution. According to the method, the high temporal-spatial resolution characteristic of ERA5 data is utilized, the precision and reliability of water vapor chromatography are remarkably improved, and the method is suitable for the fields of extreme weather prediction, meteorological monitoring and the like.

The invention relates to a multi-dimensional high-resolution turbine blade heat-flow coupling field synchronous measurement method and system, and the method comprises the steps: obtaining a target spot image of known space distribution in a measurement space, and building a three-dimensional space mapping function; carrying out particle matching on the velocity field measurement original image based on a three-dimensional space mapping function, and reconstructing a three-dimensional particle trajectory by adopting a self-adaptive grid algorithm combined with machine learning to obtain a high-resolution three-dimensional velocity vector field; acquiring a temperature field measurement original image, performing three-dimensional space registration according to a three-dimensional space mapping function, further calculating voxel-level temperature distribution, and inverting a three-dimensional temperature field; and carrying out coupling analysis on the three-dimensional velocity vector field and the three-dimensional temperature field, and outputting a three-dimensional heat-flow coupling cloud picture. According to the invention, multi-dimensional and high-precision synchronous measurement of the temperature field and the velocity field in the complex flow field of the turbine blade is realized, the spatial resolution and dynamic response capabilities are remarkably improved, and a reliable experimental basis is provided for analysis and optimization of the cooling performance of the blade.

The invention belongs to the technical field of three-dimensional mapping, and particularly relates to an occlusion area three-dimensional voxel reasoning method and system. The method comprises the following steps: S10, acquiring an RGB image containing a semantic segmentation result of an occlusion region and a corresponding depth map, and converting the depth map into an initial sparse three-dimensional voxel; and S20, constructing a three-dimensional voxel inference network, and inferring a three-dimensional voxel occupancy probability graph from the initial sparse three-dimensional voxels through the three-dimensional voxel inference network. The occlusion area can be reconstructed based on the monocular image; multi-format output and navigation interface butt joint are supported, and the method can be integrated to SLAM, 3D mapping or path search systems to serve as spatial feasibility constraints; the method can be used for querying whether any spatial position is passable; the method can be used for extracting a trafficability sub-graph from a designated area for path planning.

The invention discloses a BNCT dose calculation method, which comprises the following steps: S1, constructing a voxel model, initializing one or more particles in a simulation system, and respectively acquiring the initial position, energy and movement direction of each particle; s2, adaptively selecting a Monte Carlo particle tracking algorithm and a flux counting mode based on the region where the particles are located and the energy of the particles; s3, repeating the step S2 until the particles leave the simulation system or are killed when meeting a truncation condition; and S4, cumulatively calculating dose distribution. Through the BNCT dose calculation method, the Monte Carlo particle transport simulation time is greatly shortened, the BNCT dose calculation efficiency is optimized, and the method is suitable for rapid and high-precision radiation dose simulation under a BNCT complex tissue structure.

The invention discloses a compressor crankshaft high-precision 3D shape detection method based on laser vision, belongs to the technical field of precision measurement and intelligent manufacturing, and aims to solve the problems existing in crankshaft detection. The method comprises the following steps: step 1, scanning a compressor crankshaft in a non-contact manner by adopting a three-coordinate motion platform carrying a line laser contourgraph to obtain an original three-dimensional point cloud; 2, carrying out the preprocessing of the original three-dimensional point cloud through employing adaptive radius filtering and minimum point constraint voxel filtering; step 3, realizing pin hole position degree detection based on an improved RANSAC algorithm and two-dimensional boundary clustering, and fitting an end surface excircle and a pin hole circle to obtain the pin hole position degree; and step 4, realizing pin-end face perpendicularity detection through coarse registration and weighted ICP fine registration. The method is used for detecting the 3D morphology of the crankshaft.

The invention relates to the technical field of 3D image rendering, in particular to a commodity three-dimensional model real-time rendering system for an e-commerce platform, and the system comprises a model geometric weight generation module which carries out voxelization processing on an input commodity three-dimensional model, retrieves the geometric curvature change rate of each voxel, the position relative to a model contour and a preset region identifier, and generates a model geometric weight; calculating voxel structure saliency measurement, and establishing a geometric importance weight map. According to the method, the input commodity three-dimensional model is subjected to voxelization processing, the geometric curvature change rate of the surface of the model and the position relation of the geometric curvature change rate relative to the contour of the model are obtained, the significance measurement index is constructed by integrating the region identification, and the importance degrees of different regions are distinguished; therefore, rendering resources can be concentrated in a more critical visual feature area of the commodity model, the detail expression effect is improved, meanwhile, the resource overhead of unnecessary areas is reduced, and the resource utilization efficiency is improved.

The invention relates to the technical field of multi-unmanned-aerial-vehicle cooperative operation and three-dimensional modeling, in particular to a multi-unmanned-aerial-vehicle cooperative three-dimensional rapid modeling method for a highway accident scene, and the method comprises the steps: generating a three-dimensional grid map of an accident area through the scanning of a millimeter-wave radar by a main control unmanned aerial vehicle; subareas are divided according to a load balancing strategy and are distributed to slave unmanned aerial vehicles, the slave unmanned aerial vehicles traverse grids along a snake-shaped track, laser radar point clouds and five-view-angle images are synchronously collected, data are bound through double time stamps and space coordinates, the point clouds are preprocessed through edge computing nodes, and the point clouds are stored in a database; the master control unmanned aerial vehicle evaluates quality based on density standard deviation and overlapping matching degree and instructs to reacquire, performs high-precision Poisson reconstruction on an accident core area, performs voxelization processing on a peripheral area, maps image textures, optimizes vehicle deformation details, simplifies a model and retains key element precision, and finally performs data processing. License plate coordinates, a scattered object thermodynamic diagram and an emergency lane occupation state are automatically marked, a visual model is generated, and rapid and accurate restoration of an accident scene is realized.

The invention relates to the technical field of three-dimensional modeling, in particular to a dynamic modeling method for a geological structure three-dimensional model. The method comprises the steps that multi-source data are acquired and preprocessed, a voxel semantic fusion algorithm based on variational optimization is introduced, after semantic information is extracted from the preprocessed multi-source data, the preprocessed multi-source data are mapped to a target three-dimensional space grid, and an optimal semantic fusion vector is obtained; based on the optimal semantic fusion vector, generating a standard voxel data pool, and constructing a geological structure three-dimensional model; monitoring data change, calculating the position of a newly added data point, combining the standard voxel data pool to obtain a space updating area, and modeling the space updating area to realize model updating; and after the modeling of the space updating region is completed, optimizing the boundary continuity. The problems that multi-source geological data cannot be directly used for structure construction and semantic fusion of a three-dimensional model, dynamic response to newly-added data is lacked, and geometric discontinuity and structural logic discontinuity exist at the boundary are solved.

The invention relates to the technical field of image analysis, in particular to a temporal bone and gallbladder sebaceous tumor detection method and system based on multi-modal medical image fusion. The method comprises the following steps: acquiring a multi-modal temporal bone and gallbladder sebaceous tumor image of a patient, carrying out multi-modal image time sequence space alignment, carrying out feature vector change rate fitting, and constructing a multi-time-point image feature vector map; performing multi-modal image voxel decomposition on the multi-time-point image feature vector map, and performing three-dimensional morphological analysis to generate a geometric morphological parameter set; carrying out potential pathological hierarchical structure mining based on the geometric morphology parameter set, carrying out semantic label labeling, and constructing a multi-modal lesion semantic labeling image; and carrying out multi-time-point image change analysis on the multi-modal lesion semantic marking image, and carrying out parallel lesion evolution state prediction so as to generate a cholangioma evolution state prediction map. According to the method, accurate positioning, effective segmentation and visualized display of the temporal bone and gallbladder sebaceous tumor focus are realized.

The invention relates to the technical field of sintering evaluation, in particular to a power semiconductor device packaging sintering evaluation method and device based on image analysis. The method comprises the following steps: obtaining a multi-source heterogeneous monitoring image set of a semiconductor device, carrying out multi-modal space corresponding relation identification, carrying out global registration precision compensation, and constructing a multi-modal space registration image matrix; carrying out multi-level voxelization analysis reconstruction based on the multi-modal space registration image matrix, carrying out structure deviation mapping modeling, and constructing a sintering three-dimensional structure deviation distribution map; and performing multi-directional defect detection according to the multi-modal space registration image matrix, performing defect cascade failure modeling, and constructing a multi-defect structure integrity association network. According to the method, accurate three-dimensional sintering structure defect analysis is realized, the quality of the sintering structure is quantified in all directions, and intelligent optimization and rapid iteration of a sintering process are promoted.

The invention relates to the technical field of unmanned aerial vehicle vision, and discloses a vision system of an unmanned aerial vehicle and the unmanned aerial vehicle. The system comprises a visual data acquisition module, a dynamic feature extraction module, an environment modeling module and a decision control module. The visual data acquisition module captures a synchronous frame sequence containing infrared wave bands, visible light wave bands and depth information in a target area through a multispectral sensor array; the dynamic feature extraction module performs cross-modal fusion processing on the original visual data stream to generate a space-time correlation feature tensor containing a target contour geometric invariance descriptor and a motion trail differential topological structure; the environment modeling module constructs a three-dimensional semantic grid map according to the feature tensor, wherein each voxel unit codes the material reflectivity, the dynamic obstacle occurrence frequency and the illumination attenuation coefficient; the decision control module generates a flight path control instruction containing a pitch angle adjustment amount, a yaw angle compensation value and a speed change gradient based on the map, and assists the unmanned aerial vehicle to better cope with a complex environment.

The invention discloses a 3DGS-based integrated visual angle synthesis and sparse visual angle CT reconstruction method, which comprises the following steps: establishing an internal and external parameter matrix through X-ray scanning parameters, constructing an initial voxel space and an initialized 3DGS radiation field by combining sparse visual angle projection data and based on an ACUI strategy, modeling anisotropic radiation intensity by utilizing a radiation intensity response function, and reconstructing a 3D visual angle CT model. And generating a virtual projection by adopting volume consistency rendering. And the optimized radiation field is converted into a voxel grid, density contribution is applied to carry out voxel space reconstruction, a reconstructed voxel space is obtained, and a new 3DGS radiation field is generated. And re-rendering the virtual visual angle projection based on the new 3DGS radiation field, performing iterative optimization by using a loss function, and outputting a new visual angle synthetic image and a CT reconstruction body until a preset number of iterations is reached. And an efficient process of one-time training and dual output is realized. The efficiency and precision of X-ray imaging are improved, the radiation dose of a patient is reduced, and meanwhile, a higher-quality imaging solution is provided for medical diagnosis.

A system and method for encoding and decoding the geometry of 3D point clouds using octree-based data structures are disclosed. The method involves encoding and decoding bitstreams containing octree structure information and vertex data, including the presence and position of vertices on cuboid edges corresponding to leaf nodes. The decoding process determines triangles connecting vertices within each cuboid, which are voxelized to reconstruct the 3D point cloud. To enhance voxelization accuracy, triangles may be extended along one or more sides based on a sampling distance parameter (dsampldsampl) or adaptive halo parameters. The encoding process utilizes similar principles to encode the octree structure and vertex information, supporting geometry reconstruction with high fidelity. The system employs the Möller-Trumbore algorithm and barycentric coordinate calculations with constraints based on dsampldsampl for voxelization. Extensions may include fixed or adaptive parameters encoded within the bitstream.