CN101923729B - Reconstruction method of three-dimensional shape of lunar surface based on single gray level image - Google Patents

Reconstruction method of three-dimensional shape of lunar surface based on single gray level image Download PDF

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CN101923729B
CN101923729B CN2010102625080A CN201010262508A CN101923729B CN 101923729 B CN101923729 B CN 101923729B CN 2010102625080 A CN2010102625080 A CN 2010102625080A CN 201010262508 A CN201010262508 A CN 201010262508A CN 101923729 B CN101923729 B CN 101923729B
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menology
pixel
value
dimensional shape
reconstruction method
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CN101923729A (en
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李建胜
徐青
陈杰
郝向阳
蓝朝桢
周杨
孙伟
邢帅
西勤
何钰
卢战伟
王同合
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PLA Information Engineering University
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Abstract

The invention relates to a reconstruction method of a three-dimensional shape of a lunar surface based on a single gray level image, belonging to the technical field of computer simulation. The method comprises the following steps: firstly, extracting the gray level value information of each pixel point in the single gray level image of the lunar surface, and finding out the pixel point with the maximum gray level value; dividing the maximum gray level value by the gray level value of each pixel point in the image to acquire the cosine of the inclination angle of each pixel point; carrying out an approximate spherical hypothesis on the lunar surface to acquire the cosine of the deflection angle of each pixel point; computing the inclination angle and the deflection angle of each pixel point, then computing the surface normal vector of each pixel point, and converting the surface normal vector into the height coordinate value of each pixel point; carrying out filtering treatment; and reconstructing the three-dimensional shape of the lunar surface by utilizing the OpenGL technology according to each acquired surface normal vector and each acquired height coordinate value. The method of the invention can reduce the requirements for implementation of three-dimensional surface restoration, improve the speed and the efficiency of restoration and simplify the steps of restoration; and by using the method for carrying out treatment, the three-dimensional shape of the lunar surface can be more accurately reconstructed.

Description

Menology reconstruction method of three-dimensional shape based on individual gray level image
Technical field
The present invention relates to menology reconstruction method of three-dimensional shape, belong to the computer simulation technique field based on individual gray level image.
Background technology
Through menology 3D shape that the lunar map picture of taking is analyzed and researched is one of fundamental research of moon exploration.In the various countries' lunar exploration engineering that comprises China's " Chang'e I " and in the works, the research of menology dimensional topography is in critical positions all the time.Remain a kind of important menology dimensional topography analytical approach at present through image reconstruction menology 3D shape.Six kinds of contained measurements of the LRO of the U.S.'s in October, 2008 emission have two kinds in order to measure moon landform in equipping, and one of them takes the lunar map picture exactly.As far back as nineteen fifty-one, just find that menology has the characteristic of approximate lambert's body (Lambertian) reflection model before the human moonfall.The domestic nearest moon 3D shape restoration methods that has proposed based on binocular stereo vision, but there are two width of cloth image registration problems in the binocular stereo vision method.The single width gray level image light and shade that the seventies in 20th century, Horn proposed is recovered 3D shape, and (Shape-from-Shading, SFS) method obtains many scholars' attention.The principle of SFS algorithm is according to the intensity of reflected light of respective point on the each point gray-scale value Calculation of Three Dimensional body surface on the image, can be known that by the analysis of physics and geometrical optics the geometric configuration of catoptrical intensity and body surface character and body surface has relation.In order to eliminate the pathosis of problem; Typical SFS algorithm has minimization algorithm, finite element algorithm, neural network algorithm and viscosity to separate theory etc.; Yet the ubiquitous problem of algorithm has following two at present: the one, and the reflection model of selecting does not meet the reflection characteristic of body surface; The 2nd, constraint condition of introducing and solution procedure are too complicated, and it is slow to find the solution speed, and efficient is low.
Summary of the invention
The purpose of this invention is to provide a kind of menology reconstruction method of three-dimensional shape, find the solution slow, the inefficient problem of speed to solve existing reconstructing method based on individual gray level image.
For realizing above-mentioned purpose, the menology reconstruction method of three-dimensional shape step based on individual gray level image of the present invention is following:
(1) extracts each gray values of pixel points information in individual menology gray level image, find out the wherein pixel of maximum gradation value;
(2) each gray values of pixel points and maximum gradation value in the image are divided by, obtain the cosine at each pixel inclination angle; According to the menology reflection characteristic, menology is done the almost spherical hypothesis, try to achieve the cosine of each pixel drift angle;
(3) according to the inclination angle cosine value of each pixel, the surface normal vector that the drift angle cosine value is tried to achieve each pixel;
The surface normal vector of each pixel that (4) will try to achieve converts the height coordinate value of each pixel into;
(5) utilize medium filtering that each the height coordinate value that calculates is carried out Filtering Processing;
(6), utilize OpenGL technology reconstruct menology 3D shape according to the surface normal vector and the height coordinate value that obtain.
Further; Maximum gradation value is
Figure 696630DEST_PATH_IMAGE001
in the said step (1), and the pairing pixel of this maximum gradation value is designated as
Figure 128749DEST_PATH_IMAGE002
.
Further; The gray-scale value
Figure 144295DEST_PATH_IMAGE004
of pixel in said step (2) image
Figure 284923DEST_PATH_IMAGE003
is divided by with maximum gradation value , obtains the cosine
Figure 265780DEST_PATH_IMAGE007
at pixel
Figure 723361DEST_PATH_IMAGE005
inclination angle
Figure 297824DEST_PATH_IMAGE006
; According to the menology reflection characteristic; Menology is done the almost spherical hypothesis; Try to achieve the cosine
Figure 391234DEST_PATH_IMAGE009
of pixel
Figure 424229DEST_PATH_IMAGE005
drift angle
Figure 198150DEST_PATH_IMAGE008
; Wherein ,
Figure 474039DEST_PATH_IMAGE011
are x for the gradation of image value, and the calculus of differences of y axle obtains.
Further; Said step (3) is according to the inclination angle cosine value of pixel , the surface normal vector that the drift angle cosine value is tried to achieve this pixel; , wherein
Figure 409000DEST_PATH_IMAGE013
is the mould of vector.
Further; Said step (4) converts the surface normal vector of the pixel that obtains
Figure 777926DEST_PATH_IMAGE003
into the height coordinate value, and formula is
Figure 831333DEST_PATH_IMAGE014
.
Further; Medium filtering in the said step (5) is to establish height sequence of sets
Figure 733430DEST_PATH_IMAGE015
; Use the moving window of length that it is carried out medium filtering for
Figure 276407DEST_PATH_IMAGE016
; Obtain corresponding
Figure 834427DEST_PATH_IMAGE016
number
Figure 52044DEST_PATH_IMAGE017
of window; Wherein, is the value of window center point,
Figure 725788DEST_PATH_IMAGE019
; This
Figure 567842DEST_PATH_IMAGE020
number is pressed the size ordering of numerical value; Getting its sequence number is the filtering output of number as
Figure 589150DEST_PATH_IMAGE018
of middle; If
Figure 403522DEST_PATH_IMAGE021
is filtering output, then .
Further, also add illumination model after the reconstruct menology 3D shape in the said step (6).
Further, said illumination model is the Hapke illumination model, for
; Wherein
Figure 816552DEST_PATH_IMAGE024
; ;
Figure 541111DEST_PATH_IMAGE026
;
Figure 859222DEST_PATH_IMAGE027
;
Figure 924130DEST_PATH_IMAGE028
,
Figure 447515DEST_PATH_IMAGE029
.
Further; Obtain influencing radiation value ,
Figure 978040DEST_PATH_IMAGE031
according to illumination model.
Further, the menology 3D shape stack texture to reconstruct shows.
The present invention is for emulation menology 3D shape; Based on traditional SFS method, adopted the lambert's body illumination reflection model that meets the menology reflection characteristic, menology is done spherical hypothesis; Then image is done the approximate differential computing and obtain height function; Again the result is done medium filtering, the correctness that assurance is found the solution, thus realized utilizing the single width gray level image to recover the menology 3D shape.Adopt method of the present invention can reduce the requirement that three-dimensional surface recover to be implemented, improve speed and the efficient recovered, simplify the step of recovering, after handling through this method, the 3D shape of reconstruct menology more accurately.
Further; Add the Hapke illumination model; Because the Hapke model mainly is the moon reflection case that causes to by single source, according to the geometrical property of light, with the reflection coefficient of menology to light in the menology reflection; Calculate the radiation intensity that arrives the observation place by the light of menology reflection, better actual conditions of pressing close to menology.
Description of drawings
Fig. 1 is a process flow diagram of the present invention;
Fig. 2 is the moonscape emulation gray-scale map of embodiment;
Fig. 3 is to the cloud data display effect behind Fig. 1 reconstruct three-dimensional surface among the embodiment;
Fig. 4 is the displayed map of embodiment after to Fig. 1 reconstruct three-dimensional surface;
Fig. 5 is embodiment to Fig. 1 reconstruct 3D shape and adds the design sketch of Hapke illumination;
Fig. 6 be embodiment to Fig. 1 reconstruct 3D shape after the design sketch of stack Hapke illumination and texture;
Fig. 7 is the menology image that NASA takes;
Fig. 8 be embodiment to Fig. 7 reconstruct shape after the design sketch of stack texture and illumination.
Embodiment
The SFS algorithm is according to the intensity of reflected light of respective point on the each point gray-scale value Calculation of Three Dimensional body surface on the image, can be known that by the analysis of physics and geometrical optics the geometric configuration of catoptrical intensity and body surface character and body surface has relation.
If will show the menology shape, need the half-tone information in the image be converted to the amount relevant with moon geological information.According to lambert's body reflection law; The diffuse reflection light intensity that desirable diffuse reflection body surface reflects out is directly proportional with the cosine of the angle between incident light and the body surface normal vector; That is:
Figure 518743DEST_PATH_IMAGE032
In the formula;
Figure 460416DEST_PATH_IMAGE033
is the intensity that diffuses of body surface;
Figure 123479DEST_PATH_IMAGE034
is the intensity of light source;
Figure 586821DEST_PATH_IMAGE035
is the body surface reflection coefficient, and
Figure 993531DEST_PATH_IMAGE036
is the angle between incident light and the surface normal.
If the unit normal vector of body surface at illuminated some place is ; Pip is to the unit vector of spot light; Then can be expressed as following vector form:
Figure 562595DEST_PATH_IMAGE039
When pointolite is far from illuminated surface;
Figure 507417DEST_PATH_IMAGE038
changes very little, thereby can see it as constant.The light that this moment, pointolite sent is directional light, and is definite fully by vector
Figure 859901DEST_PATH_IMAGE040
.Under gradient space; Suppose
Figure 864766DEST_PATH_IMAGE041
and be light source incident vector,
Figure 365018DEST_PATH_IMAGE042
is the method vector of body surface each point.For natural light; The incident vector is a definite value; And for the body surface normal vector; According to higher mathematics knowledge; Provide functional form
Figure 51214DEST_PATH_IMAGE043
, that is:
Figure 821986DEST_PATH_IMAGE044
.
Hence one can see that, and
Figure 997753DEST_PATH_IMAGE045
is the object surfaces gradient.On mathematics; The dot product of two vectors equals the product of their moulds and included angle cosine, that is: .
The dot product of two vectors can also be expressed as:
Figure 209608DEST_PATH_IMAGE047
Can get thus:
Figure 599001DEST_PATH_IMAGE048
,
Can set up the intensity of locating with any point on the gray level image
Figure 181554DEST_PATH_IMAGE049
that diffuses through following formula is:
Figure 594081DEST_PATH_IMAGE050
?，
It is exactly this dot image brightness that the intensity that diffuses of body surface
Figure 684397DEST_PATH_IMAGE033
is reflected on the image.Can know through following formula; When
Figure 928297DEST_PATH_IMAGE051
value is 1; Be light source direction when identical with surperficial direction of normal,
Figure 383549DEST_PATH_IMAGE052
is maximal value.Finding the solution the SFS problem is exactly according to following formula; Utilize the brightness and the light source direction of known image to confirm body surface gradient , and the relation with
Figure 511670DEST_PATH_IMAGE054
can further be obtained object surfaces height
Figure 200140DEST_PATH_IMAGE055
by .According to above-mentioned formula, each point has two surface graded components to be asked in the scene, and every had only a known gray scale, so it is the inverse process of a morbid state.
The process flow diagram of the menology reconstruction method of three-dimensional shape based on individual gray level image of the present invention is as shown in Figure 1, and specific embodiment is an example with Fig. 2 moonscape emulation gray level image, and table 1 is part pixel gray-scale value tabulation in the image of Fig. 2.
Figure 383997DEST_PATH_IMAGE056
Figure 753798DEST_PATH_IMAGE057
1, the gray-scale value of establishing moon view data point
Figure 972290DEST_PATH_IMAGE058
is
Figure 333126DEST_PATH_IMAGE004
; At first obtain the maximum point of gray-scale value in the view data, its gray-scale value
Figure 912192DEST_PATH_IMAGE001
.
2, the gray-scale value
Figure 953147DEST_PATH_IMAGE060
of point is done division with
Figure 111595DEST_PATH_IMAGE001
with
Figure 922874DEST_PATH_IMAGE059
, and its result is as the inclination angle cosine of this pixel
Figure 823200DEST_PATH_IMAGE007
。As shown in table 2 below is the inclination angle cosine value data list that table 1 image slices vegetarian refreshments gray-scale value calculates.
Figure 252169DEST_PATH_IMAGE061
Figure 453343DEST_PATH_IMAGE062
According to the menology reflection characteristic; Can do the almost spherical hypothesis to menology; Then the drift angle of pixel
Figure 36771DEST_PATH_IMAGE008
cosine can obtain through computes;
Figure 614383DEST_PATH_IMAGE009
; Wherein ,
Figure 706153DEST_PATH_IMAGE011
representative image gray-scale value are x; The calculus of differences of y axle is promptly differentiated to x, y.Inclination angle cosine value data list as shown in table 3 below, that table 1 image slices of serving as reasons vegetarian refreshments gray-scale value calculates.
3, obtain just can calculating the surface normal vector at this some place after the inclination angle and drift angle of pixel,
;
Figure 296163DEST_PATH_IMAGE013
is the mould of vector, can be set at 1.
4, can draw the three-dimensional appearance of menology according to the surface normal vector, as shown in Figure 3 is to the cloud data display effect figure behind Fig. 1 reconstruct three-dimensional surface; Fig. 4 is to the displayed map behind Fig. 1 reconstruct three-dimensional surface.The surface normal vector can only be described the features of shape of menology; Can not obtain the relative height value of surface point; So; Need carry out of the conversion of surface normal vector, to the height coordinate value.Height value data list as shown in table 4 below, that table 1 image slices of serving as reasons vegetarian refreshments gray-scale value recovers.
Figure 459477DEST_PATH_IMAGE066
5, obtain altitude information after owing to there is the influence of picture noise, if especially imaging surface exists under the situation of spike sudden change, the height value that calculates has than mistake, so also need utilize medium filtering to carry out the processing of following filtering:
If sequence of sets
Figure 50995DEST_PATH_IMAGE015
; Use the moving window of length that it is carried out medium filtering for
Figure 309063DEST_PATH_IMAGE016
; Obtain corresponding number
Figure 68258DEST_PATH_IMAGE067
of window; Wherein,
Figure 525784DEST_PATH_IMAGE068
is the value of window center point,
Figure 340156DEST_PATH_IMAGE019
.This
Figure 224935DEST_PATH_IMAGE016
number is pressed the size ordering of numerical value; Getting its sequence number is the filtering output of number as
Figure 67469DEST_PATH_IMAGE068
of middle; If
Figure 266369DEST_PATH_IMAGE021
is filtering output, then
Figure 997565DEST_PATH_IMAGE069
.As shown in table 5 below, for table 1 picture point is recovered and filtered height value data list.
Table 5 table 1 picture point is recovered and filtered height value
Figure 53246DEST_PATH_IMAGE070
6, pass through said method; Utilize the OpenGL technology can the menology dimensional topography of emulation be shown; But for effect is close to the real terrain of menology, also need add illumination model, as shown in Figure 5ly be to Fig. 1 reconstruct 3D shape and add the design sketch of Hapke illumination.Method has adopted the Hapke illumination model.The Hapke model mainly is the moon reflection case that causes to by single source; According to the geometrical property of light in the menology reflection; With the reflection coefficient of menology, calculate the radiation intensity that arrives the observation place by the light of menology reflection, better actual conditions of pressing close to menology to light.The Hapke model can be expressed as:
Figure 807575DEST_PATH_IMAGE071
，
Wherein
Figure 606904DEST_PATH_IMAGE072
representes the corresponding albedo of celestial body surface atural object; The condition that expression viewpoint direction overlaps with light source direction; representation unit angle scattering equation, the bidirectional reflectance coefficient of
Figure 427857DEST_PATH_IMAGE075
expression scattered beam in infinitely-great medium.
Figure 765298DEST_PATH_IMAGE076
and
Figure 408769DEST_PATH_IMAGE077
can be represented by the product of celestial body surface gradient vector respectively, promptly
Figure 806252DEST_PATH_IMAGE078
?，
Figure 98955DEST_PATH_IMAGE079
?，
Wherein
Figure 177770DEST_PATH_IMAGE080
expression light source direction unit vector,
Figure 738064DEST_PATH_IMAGE081
expression viewpoint direction unit vector.
Because when the reflection angle of light and incident angle were approaching, the direction vector of light source and the direction vector of viewpoint were very approaching, singularity can appear in the Hapke model at this moment, and bigger error can appear in result calculated.Therefore, adopt a kind of improved model:
; Wherein
Figure 522667DEST_PATH_IMAGE083
is the normal vector of light source direction; is that the vector of light source direction is the vector of viewpoint direction with
Figure 819973DEST_PATH_IMAGE085
;
Figure 326303DEST_PATH_IMAGE024
;
Figure 826554DEST_PATH_IMAGE025
;
Figure 247171DEST_PATH_IMAGE026
;
Figure 782058DEST_PATH_IMAGE027
; ;
Figure 883055DEST_PATH_IMAGE029
, the corresponding albedo of
Figure 671144DEST_PATH_IMAGE072
expression celestial body surface atural object.
6.1, improved model simplified the expression formula of Hapke model, make it singularity can not occur, and kept the fundamental property of Hapke model.
6.2, the image radiation value that obtains at last Can be expressed as:
Figure 79309DEST_PATH_IMAGE031
7, under this illumination model, scene stack texture is shown that effect is better true to nature.The stack texture is to utilize texture technology among the OpenGL; The general step that texture is drawn is: definition texture mapping, control texture, explanation texture mapping mode and definition texture coordinate; It realizes that function is glTexImage2D (), and as shown in Figure 6 is design sketch to stack Hapke illumination and texture after Fig. 1 reconstruct 3D shape.
Shown in Figure 7 is the menology image that NASA takes; Fig. 8 be reconstructing method according to the present invention to Fig. 7 reconstruct shape after the design sketch of stack texture and illumination.

Claims (10)

1. menology reconstruction method of three-dimensional shape based on individual gray level image is characterized in that this method step is following:
(1) extracts each gray values of pixel points information in individual menology gray level image, find out the wherein pixel of maximum gradation value;
(2) each gray values of pixel points and maximum gradation value in the image are divided by, obtain the cosine at each pixel inclination angle; According to the menology reflection characteristic, menology is done the almost spherical hypothesis, try to achieve the cosine of each pixel drift angle;
(3) according to the inclination angle cosine value of each pixel, the surface normal vector that the drift angle cosine value is tried to achieve each pixel;
The surface normal vector of each pixel that (4) will try to achieve converts the height coordinate value of each pixel into;
(5) utilize medium filtering that each the height coordinate value that calculates is carried out Filtering Processing;
(6), utilize OpenGL technology reconstruct menology 3D shape according to the surface normal vector and the height coordinate value that obtain.
2. menology reconstruction method of three-dimensional shape according to claim 1; It is characterized in that: maximum gradation value is for in the said step (1), and the pairing pixel of this maximum gradation value is designated as
Figure 684670DEST_PATH_IMAGE002
.
3. menology reconstruction method of three-dimensional shape according to claim 2; It is characterized in that: the gray-scale value
Figure 520088DEST_PATH_IMAGE004
of pixel in said step (2) image is divided by with maximum gradation value
Figure 187305DEST_PATH_IMAGE001
, obtains the cosine
Figure 640786DEST_PATH_IMAGE007
at pixel
Figure 881592DEST_PATH_IMAGE005
inclination angle
Figure 533153DEST_PATH_IMAGE006
; According to the menology reflection characteristic; Menology is done the almost spherical hypothesis; Try to achieve the cosine
Figure 485880DEST_PATH_IMAGE010
of pixel
Figure 35996DEST_PATH_IMAGE008
drift angle
Figure 584789DEST_PATH_IMAGE009
; Wherein
Figure 752913DEST_PATH_IMAGE011
,
Figure 951813DEST_PATH_IMAGE012
are x for the gradation of image value, and the calculus of differences of y axle obtains.
4. menology reconstruction method of three-dimensional shape according to claim 3; It is characterized in that: said step (3) is according to the inclination angle cosine value of pixel
Figure 417430DEST_PATH_IMAGE003
, the surface normal vector that the drift angle cosine value is tried to achieve this pixel;
Figure 676373DEST_PATH_IMAGE013
, wherein is the mould of vector.
5. menology reconstruction method of three-dimensional shape according to claim 4; It is characterized in that: said step (4) converts the surface normal vector of the pixel that obtains
Figure 980763DEST_PATH_IMAGE003
into the height coordinate value, and formula does
。
6. menology reconstruction method of three-dimensional shape according to claim 5; It is characterized in that: the medium filtering in the said step (5) is to establish height sequence of sets
Figure 996310DEST_PATH_IMAGE016
; Use the moving window of length that it is carried out medium filtering for ; Obtain corresponding
Figure 513059DEST_PATH_IMAGE017
number
Figure 969579DEST_PATH_IMAGE018
of window; Wherein,
Figure 304745DEST_PATH_IMAGE019
is the value of window center point,
Figure 95984DEST_PATH_IMAGE020
; This
Figure 174798DEST_PATH_IMAGE017
number is pressed the size ordering of numerical value; Getting its sequence number is the filtering output of number as
Figure 672776DEST_PATH_IMAGE019
of middle; If
Figure 994822DEST_PATH_IMAGE021
is filtering output, then
Figure 211040DEST_PATH_IMAGE022
。
7. menology reconstruction method of three-dimensional shape according to claim 6 is characterized in that: also add illumination model after the reconstruct menology 3D shape in the said step (6).
8. menology reconstruction method of three-dimensional shape according to claim 7 is characterized in that: said illumination model is the Hapke illumination model, for
Figure 93545DEST_PATH_IMAGE023
，
Wherein
Figure 508346DEST_PATH_IMAGE024
is the normal vector of light source direction;
Figure 450894DEST_PATH_IMAGE025
is that the vector of light source direction is the vector of viewpoint direction with
Figure 701878DEST_PATH_IMAGE026
;
Figure 122495DEST_PATH_IMAGE027
;
Figure 595065DEST_PATH_IMAGE028
;
Figure 505252DEST_PATH_IMAGE029
;
Figure 430483DEST_PATH_IMAGE030
;
Figure 654791DEST_PATH_IMAGE031
;
Figure 794916DEST_PATH_IMAGE032
, the corresponding albedo of expression celestial body surface atural object.
9. menology reconstruction method of three-dimensional shape according to claim 8; It is characterized in that: obtain influencing radiation value
Figure 554111DEST_PATH_IMAGE034
,
Figure 316530DEST_PATH_IMAGE035
according to illumination model.
10. menology reconstruction method of three-dimensional shape according to claim 9 is characterized in that: the menology 3D shape stack texture to reconstruct shows.
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