多视影像三维线云重建技术及其智能化发展展望

doi:10.11947/j.AGCS.2024.20230447

摘要/Abstract

摘要：

三维线云是具有几何结构与语义信息的三维线段集合，可以作为实景三维构建中高效的引导，控制与抽象表达元素，弥补点云的边缘描述缺陷与初始结构的缺失，是改变传统三维模型“一张皮”（不同对象相互粘连，难以指导空间分析与决策）的重要结构化特征。然而，如何从多视影像中重建好用的线云，将线云在实景三维中用好，一直是本领域的难点问题。本文回顾三维线云的发展，介绍相关的重建方法，分析存在的难点与不足；结合从数字化走向智能化的测绘科技转型背景，论述线云在实景三维中建什么，如何建与怎么用，对线云重建和应用的智能化发展予以介绍和展望，希望为实景三维重建与线云研究的相关人员提供参考。

关键词: 三维线云, 实景三维, 三维重建, 智能化测绘, 多视影像

Abstract:

As a collection of line segments, 3D line clouds shave distinct geometric structures and semantic information in each individual feature. They can serve as efficient guiding, controlling, and abstract representation elements in structured 3D reconstruction, compensating for the deficiencies in edge description and lack of initial structure in point clouds. These line clouds represent important structured features that can change the traditional “one-layer skin” 3D model (where different objects are mutually adherent, making spatial analysis and decision-making difficult). However, how to reconstruct useful line clouds from multi-view images and make effective use of them has always been a challenging problem in this field. This article reviews the development of 3D line clouds, introduces related reconstruction methods, and analyzes existing difficulties and shortcomings. Combining the background of transformation from digitization to intelligent surveying and mapping technology, it discusses the three questions of what to build, how to build, and how to use line clouds in real-world 3D scenarios. The article also introduces and prospects the intelligent development of line cloud reconstruction and application, hoping to provide a reference for researchers working on real 3D reconstruction and line clouds.

Key words: 3D line clouds, 3D realistic scene, 3D reconstruction, intelligent surveying and mapping, multiple images

中图分类号:

魏东, 刘欣怡, 张永军. 多视影像三维线云重建技术及其智能化发展展望[J]. 测绘学报, 2024, 53(6): 1025-1036.

Dong WEI, Xinyi LIU, Yongjun ZHANG. The technology and intelligent development of 3D line cloud reconstruction from multiple images[J]. Acta Geodaetica et Cartographica Sinica, 2024, 53(6): 1025-1036.

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算法	特点
文献[27]	三维线段的反投影检验中使用纹理强度评价，不依赖直线提取结果；可获取较多数量的三维线段，但运行速度慢
Line-sweep^[28]	采用匹配点引导的扫描匹配策略，效果稳健且计算复杂度低
文献[29]	基于线段编组的平面约束纠正错误前方交会；匹配过程不需要影像的初始位姿；可以重建出较多且规整的三维结构；运行速度未知
Line3D++^[15]	并行匹配，运行速度较快；使用点线联合的光束法平差优化了重建精度；但严格的单一阈值融合策略使得线云数量较少
文献[30]	利用深度学习改善两视前方交会沿核面的误差问题；可以重建较多的线段；但深度学习策略的泛化性有待考察
ELSR^[16]	利用CPU多线程加速，大场景重建速度快；线云数量较多；但单一融合阈值与代表线段获取的线云仍需要进行进一步的精度优化
文献[31]	利用多尺度策略改进了线段提取算法；可重建出更多的三维线；并在此基础上进行了建筑物重建
Linemap^[32]	支持不同的线段提取与匹配算法组合；引入灭点与特征点优化精度；数量与精度表现较好；速度有待优化
文献[33]	使用深度图提升速度与精度；数量与质量上都有较好的表现；对三维网格优化进行了应用
SLAM^[17-19]	增量式重建；需要窄基线像对