4846 results about "Voxel" patented technology

The invention discloses a tunnel multi-source fusion dynamic twin surrounding rock intelligent prediction and control method and system, and the method comprises the steps: collecting multi-source heterogeneous data in real time through intelligent drilling equipment, a distributed optical fiber sensing network and a mobile scanning device which are disposed on a tunnel construction surface; inputting the multi-source heterogeneous data into a space-time diagram convolutional network, constructing a space-time correlation model of geological features and construction disturbance parameters, and outputting a coupling feature matrix; based on the coupling characteristic matrix, simulating the dynamic response of the surrounding rock-support system through a streaming voxelization engine and a multi-physics coupling engine, and generating a risk evolution three-dimensional thermodynamic diagram; and inputting the risk evolution three-dimensional thermodynamic diagram into the deep reinforcement learning model, and dynamically optimizing to generate a construction parameter regulation and control instruction meeting a safety constraint condition. According to the technology, a full-link channel of'data perception-mechanical analysis-decision execution 'is opened in a closed-loop mode, and therefore the double risks of'data distortion misjudgment' and'response lag out-of-control 'of a traditional method are avoided.

The invention discloses an underground construction decision-making method based on three-dimensional geological modeling and risk hot area identification, and relates to the field of fusion of artificial intelligence and geological engineering. The method comprises the following steps: firstly, acquiring drilling data, geological radar images and seismic reflecting layer information, constructing a three-dimensional geological voxel model with spatial topology constraints, and accurately describing a geological unit structure by adopting an irregular grid mode; and then, extracting a time sequence characteristic index under construction disturbance, forming a continuous time sequence characteristic vector, inputting the continuous time sequence characteristic vector into a convolutional recurrent neural network model with a space attention aggregation mechanism and a deep memory unit, and predicting a risk heat value of each space position. And on the basis, through heat gradient clustering and neighborhood consistency analysis, a dynamic high-risk hot area is identified, and a risk hot area map is constructed. And finally, in combination with the construction stage, the equipment plan and the sensor feedback information, constructing a multi-target auxiliary decision function, and generating a construction decision result including operation path reconstruction, rhythm adjustment and power limit and control suggestions.

Apparatuses, systems, and techniques are presented to generate digital content. In at least one embodiment, one or more neural networks are used to generate a three-dimensional voxel representation of a scene based, at least in part, upon a plurality of two-dimensional images of the scene.

The invention relates to an optimization method and device for sparse view angle three-dimensional Gaussian splash, and belongs to the technical field of three-dimensional reconstruction in computer vision, and the method comprises the steps: collecting a sparse view angle image; a multi-view stereoscopic vision model based on deep learning generates a geometrically consistent depth map for the sparse view image, converts the depth map into point clouds and fuses the point clouds to obtain dense point clouds; sampling dense point clouds by adopting voxel-guided farthest point sampling to obtain initialized point clouds, and constructing a three-dimensional Gaussian field; rendering the three-dimensional Gaussian field through an enhanced geometric renderer to obtain a rendering depth and a rendering normal; constructing a multi-level geometric regularization loss function, and optimizing the three-dimensional Gaussian field; and performing optimization adjustment on the three-dimensional Gaussian field based on a shape-scale constraint criterion and a two-stage adaptive opacity constraint strategy to obtain an optimized three-dimensional Gaussian field. According to the method, the problems of initialization failure, insufficient geometric supervision and element out-of-control of 3D Gaussian splashing under the sparse view angle are solved.

The invention relates to a robot sensing and decision-making method based on a lightweight multi-modal large model. The method comprises the following steps: constructing a semantic voxel map; collecting multi-modal data based on the semantic voxel map and preprocessing the multi-modal data, wherein the multi-modal data comprises visual data, point cloud data and a target semantic tag; performing feature extraction on the preprocessed multi-modal data, and performing dynamic cross-modal attention fusion to obtain multi-modal fusion features; inputting the multi-modal data into a lightweight multi-modal large model at the same time, and performing semantic analysis to obtain global space object semantic description; and based on the global space object semantic description, the target and direction embedding vector and the multi-modal fusion feature, a reinforcement learning algorithm is adopted to carry out hierarchical navigation decision making to obtain a target decision, and the target and direction embedding vector is a preprocessed target semantic tag. And the accuracy, timeliness and adaptability of robot perception and navigation decision making in a complex scene are improved.

The invention relates to a self-localization and motion perception method based on deep learning, and the method comprises the following steps: multi-modal perception: collecting RGB frames and event streams through employing a DAVIS346 event camera, obtaining texture and depth information through employing an RGB-D camera, and supplementing 3D structure data through a laser radar; hybrid optical flow driven motion perception: adopting a double-branch architecture of an improved RAFT network and an event optical flow private network; multi-modal 3D detection and trajectory management: fusing multi-modal data based on VoxelNeXt-Lite to generate a 3D detection frame, filtering false detection by combining point cloud density clustering and an event density threshold, then constructing a space-time diagram associated trajectory through a Spatio-Temporal Graph Transformer, and optimizing pedestrian trajectory prediction continuity by using an LSTM (Long Short Term Memory) model perceived by a gait cycle; multi-view semantic graph matching: constructing a 3D semantic voxel map containing vertical features, calculating scene similarity in combination with top view NetVLAD features and deformable graph matching, and dynamically adjusting semantic weight by using a situation encoder and knowledge graph reasoning; and carrying out multi-sensor fusion and robust positioning.

The invention discloses a supply chain financial risk management system based on credit assessment, and relates to the field of financial science and technology. A five-dimensional data model is constructed through a dynamic data modeling unit, and transaction subject levels and legal potency dimensions are integrated; the causal analysis engine adopts a dynamic updating algorithm of time sequence feature coding and compliance score constraint, and introduces a legal potency score constraint mechanism to strengthen compliance verification. The cross-domain risk conduction model combines physical space voxel grid monitoring with a digital space fluid dynamic equation, and the risk conduction velocity is quantified through a risk diffusion coefficient and a partial differential equation; and the self-evolution defense module integrates a confrontation sample generator and an incorruption degree feedback mechanism, simulates logistics track abnormity through Levy distribution, and improves the defense capability of the system in combination with a dynamic weight adjustment strategy of approval skipping times. According to the system, the deep supply chain risk conduction path identification precision is improved, and the problems of a multi-level network risk monitoring blind area and cross-domain risk tracking lag are effectively solved.

The present invention belongs to the technical field of digital mine safety, and particularly relates to a blasting area surface morphology inversion method based on an unmanned aerial vehicle. The method comprises: S01, on-site data collection; S02, blasting area morphology inversion; S03, a muck pile throw distance; and S04, a muck pile surface fragmentation distribution. In the present invention, oblique photography by an unmanned aerial vehicle is used, and three-dimensional model reconstruction is performed by capturing a blasting area image, so that a feasible aerial survey scheme is formulated, and the integrity of collected data is good; and reverse modeling of the blasting area is performed by means of the steps of feature point extraction, spatial information conversion, point cloud generation, grid generation, etc.; voxel grid downsampling, point cloud matching and error detection are used to perform registration on point clouds of a target area before and after blasting, so that a good effect is achieved; and a color-based region growing algorithm is used to perform coarse segmentation of point cloud features on an ore-rock block on the surface of a muck pile, and a PointNet++ algorithm is used to perform fine segmentation of point cloud features on the ore-rock block on the surface of the muck pile, so that the muck pile throw distance and the muck pile surface fragmentation distribution are calculated.

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.

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 provides a multi-modal fusion sensing robot dog inspection slope disaster risk assessment method and device and a storage medium, and relates to the field of slope disaster assessment, and the method comprises the steps: obtaining multi-modal sensing data; performing space-time alignment processing on the multi-modal sensing data and then converting the multi-modal sensing data into a voxel coordinate system; performing feature extraction on the multi-modal sensing data after time-space alignment, and mapping each extracted feature to a unified voxel unit to form a three-dimensional voxel structure containing each extracted feature; constructing a three-dimensional multi-modal data fusion model; identifying disaster types based on the three-dimensional multi-modal data fusion model, wherein the disaster types comprise the ground surface crack length, the underground cavity volume, the water seepage point number, the local collapse and bulging area, the vegetation degradation area and the slope gradient; and calculating a risk index based on the identified disaster type in combination with the association degree of the disaster type. By adopting the evaluation method provided by the invention, rapid and efficient evaluation of slope disasters can be realized, and the method has relatively good accuracy.

The invention relates to a tower crane operation control system based on complex scene three-dimensional real-time modeling. According to the system, a lifting hook is coarsely positioned through a lifting hook positioning and state sensing unit, a real-time position is positioned by combining a laser radar point cloud clustering algorithm with historical pose data, and visual tracking is synchronously performed by means of a tower top camera AI; converting the real-time point cloud data into a 3D voxel grid map, generating a global path by using a 3DA algorithm, and outputting a hoisting track after smooth processing and track optimization; establishing a sling-lifting hook double-pendulum dynamic model, predicting a state sequence based on a model prediction control algorithm, and adjusting a control signal through a feedforward compensation item and a feedback correction item; and the man-machine interaction and monitoring unit is used for displaying the cantilever angle, the lifting hook height and the three-dimensional map of the tower crane in real time and remotely intervening the operation state of the tower crane. According to the system, multi-source data are fused to construct a high-precision three-dimensional map, lifting hook positioning and full-view tracking are achieved, and lifting safety and trajectory tracking precision are improved through path planning and dynamics control.

The invention relates to the technical field of automatic welding control, and particularly discloses a multi-station automatic welding cooperative control method for electric iron accessories, which realizes full-closed-loop accurate control of a welding process through multi-sensor data fusion and an intelligent optimization algorithm. According to the method, an infrared thermal imager, an acoustic emission sensor and an ultrasonic thickness measuring device are adopted to collect molten pool temperature field, sound wave frequency spectrum and fusion depth data in real time, after feature extraction, the data are input into a multi-target optimization model, and a Pareto optimal solution set is generated with the fusion depth, the width of a heat affected zone and phase change latent heat as optimization targets; dynamically adjusting a segmented welding-back path and process parameters on the basis of an optimization result, and triggering model iterative correction through ultrasonic online monitoring; the central control unit adopts space voxelization monitoring and a three-level collision avoidance strategy to coordinate operation of the multiple mechanical arms, and collision emergency protection is achieved in combination with flexible pressure sensing.

The invention provides a page structure optimization method and system for a presentation file. The method comprises the following steps: identifying visual elements in a presentation page, and carrying out logical relationship analysis on the visual elements to obtain logical relationship information of the presentation page; mapping the visual structure information into a page three-dimensional implicit field to obtain three-dimensional voxels corresponding to the visual elements; calculating a visual focus thermodynamic diagram in the page of the presentation file, and distributing a three-dimensional voxel corresponding to the target visual element to a visual sensitive area; on the basis of the position relation of the visual elements and the first typesetting information, combining an information density energy function to predict a global optimal layout, and optimizing a narrative path in the presentation file according to logic relation information and user narrative preference to obtain third typesetting information, so that the spatial arrangement relation of the visual elements conforms to the narrative logic of the user preference; and executing secondary typesetting on the PowerPoint page based on the third typesetting information to optimize the page structure of the PowerPoint page and improve the page typesetting efficiency.

The invention discloses a 3D object reconstruction method combining multi-view fusion and a neural network, and the method comprises the following steps: collecting a multi-view image of a target object, carrying out the geometric calibration and view parameter calibration, and generating a standardized image sequence; inputting the image sequence into a feature extraction and voxel fusion module to obtain a preliminary three-dimensional space representation body as a coarse reconstruction model; performing uncertainty evaluation on the coarse reconstruction model, generating a voxel-level confidence coefficient heat map, and dividing the voxel-level confidence coefficient heat map into a plurality of confidence coefficient intervals; based on the confidence interval, constructing an adaptive repair network with a multi-scale residual path, and outputting and activating different repair paths as required by using a path gating mechanism; and fusing the residual output of each repair path with the coarse reconstruction model to generate an optimized final three-dimensional reconstruction model. According to the method, the risk of excessive repair or error repair can be effectively reduced, the adaptability of the model to complex areas such as sheltered areas is enhanced, and the integrity and precision of the whole three-dimensional reconstruction model are improved.

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 end-to-end underwater three-dimensional reconstruction method and system based on an underwater imaging model, and belongs to the technical field of underwater image processing. According to the method, deep learning pose estimation is combined with an underwater imaging model; firstly, a multi-frame underwater image sequence is collected as input, a deep neural network is constructed, and the network mainly comprises two core sub-modules: a pose estimation network; secondly, a three-dimensional reconstruction network is adopted, dense point cloud or voxel reconstruction is completed according to the predicted pose and image content, pose estimation and the three-dimensional reconstruction process are integrated in the same system, and overall joint optimization is achieved; and in combination with a self-adaptive underwater imaging model, modeling is performed on physical processes such as underwater illumination attenuation and scattering, so that the reality sense and the accuracy of a reconstruction result are improved. According to the method, high-quality three-dimensional reconstruction of images in a complex underwater environment is realized, and the method can be widely applied to ocean engineering, underwater robots, submarine topography surveying and mapping and underwater cultural relic protection.

The invention relates to the technical field of mechanical arm obstacle avoidance path planning, in particular to a multi-degree-of-freedom mechanical arm obstacle avoidance path planning method based on three-dimensional reconstruction, which comprises the following steps: step 1, three-dimensional environment perception and dynamic modeling; preferentially offsetting and expanding the near-obstacle nodes towards the concave area or the hole center to generate a candidate node set; and 4, three-dimensional grid collision verification and safe path correction are conducted, specifically, the working space of the mechanical arm is divided into three-dimensional voxel grids, and collision detection is achieved by judging whether path nodes fall into obstacle object elements or not. According to the method, the laser radar and the depth camera are adopted to synchronously collect data through hardware triggering, statistical filtering denoising and three-dimensional grid modeling are combined, geometrical characteristics of static obstacles and motion parameters of dynamic obstacles are restored, and the collision risk caused by environmental perception errors of the mechanical arm is effectively avoided.

The embodiment of the invention provides a BIM-GIS three-dimensional twin geological modeling method and system based on cognitive enhancement. The method is applied to the technical field of geological modeling, and comprises the following steps: acquiring different data sources to carry out geological data acquisition, and carrying out preprocessing to obtain preprocessed geological data; converting the geologic body into a voxel three-dimensional model according to the preprocessed geologic data; performing multi-level optimization processing on the voxel three-dimensional model, constructing an optimized model, and performing three-dimensional display; and performing mineral resource space distribution prediction according to the voxel three-dimensional model, predicting the position and the number of mineral resources in combination with historical exploration data and a convolutional neural network, and performing underground water flow simulation analysis in combination with an underground water flow model. In this way, by combining the BIM and GIS technologies, the three-dimensional geological data can be efficiently and accurately managed and displayed, and the method can be widely applied to the fields of geological exploration, mining development, urban construction and the like.

The invention provides a vascular calcification analysis method and device based on a non-enhanced CT image, and relates to the technical field of artificial intelligence. The method comprises the following steps: analyzing scanning parameter information of a non-contrast enhanced scanning image set; standardizing the non-contrast enhanced scanning image set based on the scanning parameter information to obtain a preprocessed image sequence; inputting the preprocessed image sequence into a multi-modal registration network, and generating a fused image based on the obtained key anatomical mark points; inputting the fused image into an attention-enhanced segmentation network, and determining blood vessel segmentation masks of the thoracic aorta, the common carotid artery and the intracranial artery; a candidate voxel set is extracted from the fused image based on the blood vessel segmentation mask, three-dimensional connected domain analysis is carried out on the candidate voxel set, and a blood vessel calcification three-dimensional area is determined; and inputting the vascular calcification three-dimensional region into the multi-task prediction model, determining a quantitative score of the vascular calcification degree, and improving the accuracy and reliability of a vascular calcification evaluation result.

The invention relates to the technical field of unmanned aerial vehicle control, provides a visual environment generation method, system and device based on a neural radiation field and a storage medium, and solves the problem of poor visual environment generation effect. The method comprises the steps that semantic segmentation is carried out on a corrected image, image data with semantic tags are generated, and the semantic tags are used for marking categories of objects in an outdoor scene; updating the neural radiation field model based on the image data with the semantic tag, mapping the semantic tag to a voxel feature space corresponding to the neural radiation field model, and constructing a semantic point cloud; identifying a non-key area in the multi-view image, performing redundant voxel cutting on the non-key area, and generating a cut semantic point cloud; and utilizing the clipped semantic point cloud to drive a neural radiation field model, and generating any visual angle scene of the outdoor scene. According to the technical scheme, lightweight semantic modeling and efficient free viewpoint rendering of the outdoor visual environment are achieved, and the new visual angle generation efficiency and quality of the complex environment are improved.

The invention discloses an intelligent welding quality evaluation method and system based on vision, and relates to the technical field of welding quality evaluation.The method comprises the steps that the welding process is monitored in real time through multi-mode imaging equipment, weld joint surface texture, molten pool heat distribution and three-dimensional shape information are synchronously obtained, and a three-dimensional voxel model is constructed; establishing a two-stage multi-channel architecture for executing dynamic resource scheduling, and extracting geometric features and deep semantic features in the three-dimensional voxel model; and on the basis of the defect confidence coefficient vector, in combination with the real-time process parameters and the molten pool state, a dynamic evaluation model of the welding quality index is constructed, and time-phased quality scores are calculated and output through stage weighting. According to the method, the welding seam surface texture, molten pool heat distribution and three-dimensional shape information are synchronously collected through multi-mode imaging equipment, a texture-temperature-space coordinate bound three-dimensional voxel model is constructed, and multi-source heterogeneous data fusion analysis of the welding quality is achieved.

This disclosure provides systems, methods, and devices for vehicle driving assistance systems that support enhanced sensor fusion techniques. In a first aspect, a method of includes receiving point cloud data for two or more frames from a radar device and generating scene flow parameter data based on the point cloud data. The method also includes generating voxel position adjustment data based on the scene flow parameter data, and generating feature concatenation information associated with two or more sensors based on the voxel position adjustment data and feature information associated with the two or more sensors. The method further includes performing feature detection and tracking based on the feature concatenation information to generate tracking information for one or more objects, and outputting the tracking information. Other aspects and features are also claimed and described.

The invention particularly relates to a laser point cloud over-break and under-break volume calculation method for tunnel engineering, and relates to the technical field of tunnel engineering construction quality detection. Modeling a tunnel design contour; matching and aligning the point cloud with the design model; carrying out over-break and under-break area division and volume calculation; and result visualization and report output. According to the method, point cloud preprocessing parameter optimization and high-precision registration are achieved through multi-dimensional quantitative analysis, and the reliability of an over-break and under-break calculation benchmark is remarkably improved; in a point cloud denoising link, a voxel evaluation coefficient is introduced to ensure that the filtered point cloud not only keeps key details such as tunnel vault radian and side wall broken lines, but also can simplify the data volume; in a model registration stage, outlier interference is eliminated and a strict iteration stop condition is set, so that a reliable reference is provided for back break deviation calculation.

The invention provides a scene perception method and device based on multiple modes, electronic equipment and a storage medium. According to the method provided by the embodiment of the invention, image features of a multi-view image sequence and radar features obtained by a 4D radar data sequence are firstly extracted, and spatial-temporal evolution of a dynamic scene and a static scene in a BEV space and a voxel space is modeled by using historical radar features and current radar features to obtain dynamic scene features and static scene features; and performing cross-modal interaction fusion on the image features, the dynamic scene features and the static scene features to obtain multi-modal fusion features, wherein the multi-modal fusion features can be directly used for 3D target detection, semantic occupancy prediction and / or motion state estimation. According to the invention, high-precision and high-efficiency scene understanding can be realized in a complex environment.

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 invention relates to the technical field of dynamic monitoring, in particular to an AI-based coal mine underground and roadway three-dimensional earthquake dynamic monitoring system, which comprises an underground edge computing node cluster module, an underground edge computing node cluster module and an underground edge computing node cluster module, the multi-source heterogeneous data fusion processing module is used for receiving the original signal data set, performing space-time alignment and feature decoupling processing, and generating a standardized seismic-electric feature matrix; the three-dimensional geological dynamic modeling module is used for generating a three-dimensional geological dynamic model updated in real time through a dynamic voxel compensation algorithm based on the standardized seismoelectric characteristic matrix; the abnormal characteristic evolution analysis module is used for receiving time sequence data of the three-dimensional geological dynamic model and constructing a space-time two-dimensional abnormal degree evolution graph; and the visual early warning decision module is used for generating graded early warning signals and a three-dimensional visual interface. According to the invention, the six-level progressive processing architecture is innovatively designed, so that the performance of the three-dimensional earthquake dynamic monitoring system for the underground coal mine and the roadway is remarkably improved.

The invention provides a liver focus three-dimensional modeling method, and belongs to the technical field of image processing based on computer vision. Firstly, a multi-view spatial registration method based on optical flow optimization is designed, pixel-level displacement information of different view images is estimated by calculating an optical flow field, accurate image alignment is achieved, and spatial consistency of three-dimensional reconstruction is improved. And secondly, a three-dimensional reconstruction strategy based on two-dimensional focus segmentation is proposed, the two-dimensional focus segmentation is completed by adopting a lightweight U-Net variant, and a segmentation result is mapped to a three-dimensional space through a voxel probability projection method, so that 3D focus reconstruction is realized, and the calculation cost is reduced. And finally, extracting high-frequency features of the three-dimensional model by adopting a local edge enhancement method based on a Laplacian operator, and strengthening a focus boundary and a key anatomical structure through interpolation optimization, so that the three-dimensional model is more accurate and clearer. Compared with a traditional method, the method has the advantages that the mode of purely depending on image superposition is avoided, and the accuracy of three-dimensional modeling is improved.

The invention relates to the field of measurement, in particular to a subway tunnel secondary lining section limit measurement method based on SLAM mobile scanning, which comprises the following steps: step 1, tunnel point cloud acquisition and target clustering point cloud acquisition; step 2, CPIII control point coordinate extraction; step 3, point cloud coordinate conversion; 4, performing point cloud processing, and removing noisy points and non-secondary-lining target point cloud data in the tunnel secondary-lining point cloud; and step 5, performing three-dimensional limit deviation analysis, performing spatial comparative analysis on the point cloud under the construction coordinate system and the subway secondary lining tunnel design three-dimensional model by adopting a voxelization deviation mapping algorithm, extracting a continuous deviation region through voxel clustering, and generating a three-dimensional deviation thermodynamic diagram. According to the method, the two-lining tunnel point cloud obtained by SLAM mobile scanning is accurately converted into a construction coordinate system by combining CPIII high-precision control points in the tunnel, rapid, visual and three-dimensional contrastive analysis with design of a three-dimensional model can be achieved, and visual and reliable data support is provided for line and slope adjustment, track laying and defect improvement.

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.