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Viewpoint Optimization Method for Flying Robot Inspecting Transmission Towers Based on point cloud model

Chinese Journal of Electronics 2018年第5期27卷 976-984页

作者： LIU Chang'an DONG Ruifang JIN Lu WU Hua School of Control and Computer Engineering North China Electric Power University

This paper presents a method to derive optimal viewpoints for flying robot based transmission tower inspection, which applies point cloud model. A safe envelope is established according to safe transmission tower inspection rules. Essential inspection factors are proposed to evaluate the quality of candidate viewpoints, which includes visibility, dimensionality feature of point cloud as well as the distance between viewpoint and transmission power. A score function is constructed to quantify candidate viewpoints, while multiple attribute decision theory is applied to calculate the weight of each factor. Particle swarm optimization(PSO) is used to find the optimal viewpoints set. Both simulation experiment and practical observations are carried out. The results prove that optimal viewpoints have a great contribution for accurate transmission tower inspection. Final results are compared to patch-based method and proved to be feasible.

关键词： Transmission tower inspection Viewpoint optimization point cloud model Particle swarm optimization(PSO) Flying robot

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Interactive point cloud blending by drag-and-drop

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2007年第10期8卷 1633-1641页

作者： ZOU Wan-hong?1, DING Zhan1, YE Xiu-zi1, CHEN Zhi-yang2 (1State Key Lab. of CAD and CG, School of Computer Science and Technology, Zhejiang University, Hangzhou 310027, China) (2Software College, Zhejiang University of Technology, Hangzhou 310014, China) State Key Lab. of CAD and CG School of Computer Science and Technology Zhejiang University Hangzhou China Software College Zhejiang University of Technology Hangzhou China

With the rapid development of 3D digital photography and 3D digital scanning devices, massive amount of point samples can be generated in acquisition of complex, real-world objects, and thus create an urgent need for advanced point-based processing and editing. In this paper, we present an interactive method for blending point-based geometries by dragging-and- dropping one point-based model onto another model’s surface metaphor. We first calculate a blending region based on the polygon of interest when the user drags-and-drops the model. Radial basis function is used to construct an implicit surface which smoothly interpolates with the transition regions. Continuing the drag-and-drop operation will make the system recalculate the blending regions and reconstruct the transition regions. The drag-and-drop operation can be compound in a constructive solid geometry (CSG) manner to interactively construct a complex point-based model from multiple simple ones. Experimental results showed that our method generates good quality transition regions between two raw point clouds and can effectively reduce the rate of overlapping during the blending.

关键词： Drag-and-drop point cloud model Interactive blending Geometry modeling

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