基于2.5D与特征描述的半结构物体建模方法研究
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摘要
环境建模是机器人研究的基础性课题,同时也是中心决策模式得以顺畅应用的前提,其主要任务便是对环境空间与物体位置、姿态进行模型化表述。当今社会,机器人在人们日常生产、生活中扮演着越来越重要的角色,它们更多地走出实验室步入人类实际生活环境中。由于工作环境的改变,建模方法也由结构化向半结构、非结构化的建模方法方向上发展。本文以半结构的真实体为代表,利用拓展的二维半技术和基于特征分类的思想,建立半结构模型。
该文通过对当前树木建模技术的分析与比较,阐明了运用二维半技术实施树木真实体建模的优越性。在深入论述自然界树木真实体建模时必须妥善兼顾各种要素的基础上,给出了基于二维半思想建立树木整体模型的系统化概念。
经过对树木建模系统的构思,将树木建模分为静态建模和动态建模两大部分。其中在静态建模中,依据树木自身具有的自相似性和分形结构,将树木静态模型划分为枝干建模、叶片建模和分叉特征表现三部分。在枝干和叶片的建模过程中,主要利用的是基于二维半思想和分形特征建立起的四种单体模型——简单标准体、复杂标准体、简单变形体、复杂变形体。不但定义了这四种单体模型的形体存储数据结构,而且给出了针对不同单体模型的半维信息表达方式。在树木动态模型中,主要考虑了对树木建模有较大影响的气候模型、材料模型、动力学模型和运动学模型。
最后,结合二维半思想构建单体实验系统,利用四类单体的数据存储结构,成功地建造出四类单体模型,验证了基于二维半思想构建单体模型算法的有效性和可行性。
Environment modeling is basic subject for robot research aspect, at the same time, it is the premise that center decision-making mode applies to the actual situation successfully, the task of environment modeling is modeling description in environmental space, object position and posture. In modern society, robots perform in the role of production, life, and come to society from laboratory. Becasuse of changing in environment, modeling method transforms structured into semi-structured and unstructured. This paper discusses the method on tree modeling with two-half dimensional thought and feature classification on representative of semi-structured objects.
This paper analyzes the current modeling techniques briefly, it elucidates superiority that bulids tree modeling by two-half dimensional thought. It discusses that many elements when trees model in the nature, after that, this paper provides systematic conceptions of tree modeling with two-half dimensional thought.
After analyzing system of tree modeling, tree modeling divides into two parts, those are static modeling and dynamic modeling. In static modeling, because of self-similar characteristic and fractal structure, effective strategy is that divides tree modeling into branch modeling, leaf modeling and fork informantion. During branch moedling and leaf modeling, it uses simple standard body, complex standard body, simple deformable body and complex deformable body. Those four object modelings are builded by two-half dimensional thought and fractal character. It provides the data structure of four object modelings and points half-dimensional meanings on different four object modelings. During dynamic modeling process, it considers more elements which impact on tree modeling in nature, such as climate modeling, material modeling, kinetic modeling and kinematics modeling.
Finally, in this paper, combines two-half dimensional thought to build the object experimental system. Using data storage structure of four typical objects, the experimental system constructs four typical objects successfully. It discusses effective and feasible running results of experimental system with two-half dimensional thought.
该文通过对当前树木建模技术的分析与比较,阐明了运用二维半技术实施树木真实体建模的优越性。在深入论述自然界树木真实体建模时必须妥善兼顾各种要素的基础上,给出了基于二维半思想建立树木整体模型的系统化概念。
经过对树木建模系统的构思,将树木建模分为静态建模和动态建模两大部分。其中在静态建模中,依据树木自身具有的自相似性和分形结构,将树木静态模型划分为枝干建模、叶片建模和分叉特征表现三部分。在枝干和叶片的建模过程中,主要利用的是基于二维半思想和分形特征建立起的四种单体模型——简单标准体、复杂标准体、简单变形体、复杂变形体。不但定义了这四种单体模型的形体存储数据结构,而且给出了针对不同单体模型的半维信息表达方式。在树木动态模型中,主要考虑了对树木建模有较大影响的气候模型、材料模型、动力学模型和运动学模型。
最后,结合二维半思想构建单体实验系统,利用四类单体的数据存储结构,成功地建造出四类单体模型,验证了基于二维半思想构建单体模型算法的有效性和可行性。
Environment modeling is basic subject for robot research aspect, at the same time, it is the premise that center decision-making mode applies to the actual situation successfully, the task of environment modeling is modeling description in environmental space, object position and posture. In modern society, robots perform in the role of production, life, and come to society from laboratory. Becasuse of changing in environment, modeling method transforms structured into semi-structured and unstructured. This paper discusses the method on tree modeling with two-half dimensional thought and feature classification on representative of semi-structured objects.
This paper analyzes the current modeling techniques briefly, it elucidates superiority that bulids tree modeling by two-half dimensional thought. It discusses that many elements when trees model in the nature, after that, this paper provides systematic conceptions of tree modeling with two-half dimensional thought.
After analyzing system of tree modeling, tree modeling divides into two parts, those are static modeling and dynamic modeling. In static modeling, because of self-similar characteristic and fractal structure, effective strategy is that divides tree modeling into branch modeling, leaf modeling and fork informantion. During branch moedling and leaf modeling, it uses simple standard body, complex standard body, simple deformable body and complex deformable body. Those four object modelings are builded by two-half dimensional thought and fractal character. It provides the data structure of four object modelings and points half-dimensional meanings on different four object modelings. During dynamic modeling process, it considers more elements which impact on tree modeling in nature, such as climate modeling, material modeling, kinetic modeling and kinematics modeling.
Finally, in this paper, combines two-half dimensional thought to build the object experimental system. Using data storage structure of four typical objects, the experimental system constructs four typical objects successfully. It discusses effective and feasible running results of experimental system with two-half dimensional thought.
引文
[1]张福海,付宣利,王树国等.载体姿态无扰的自由漂浮空间机器人运动规划.清华大学学报(自然科学版),2008,48(11):1735-1738.
[2]蔡丽,李恩,梁自泽等.巡线机器人越障行为的模糊控制研究.控制系统,2008,24(12-1):24-26.
[3]祖莉.智能割草机器人全区域覆盖运行的控制和动力学特性研究:(博士学位论文).南京:南京理工大学,2005.
[4]陈家乾,何衍,蒋静坪.自主移动机器人的室内结构化环境地图创建.控制理论与应用,2008,25(4):767-772.
[5]佟玲,郑育红.21世纪农业机械发展的趋势-农业机器人的应用.农机与食品机械,1996,11(6):2-4.
[6]董文成.机器人的军事应用.机器人,1985,12(6):64-66.
[7]陈彦云,林珲,孙汉秋等.高度复杂植物场景的构造和真实感绘制.计算机学报,2000,23(9):917-924.
[8]田雨.对分形算法中递归法的研究.四川大学学报(自然科学版),2007,44(5):990-994.
[9]陈东方,吴国红.基于带参IFS的3D分形树及其摇曳形态的实现.计算机与现代化,2007,14(9):9-11.
[10]赵欣,林和平.三维分形树木模型在3D GIS中的应用.吉林大学学报(信息科学版),2003,21(3):307-311.
[11]王兴元,石其江,孙天凯.基于IFS理论的数字水印算法.中国图象图形学报,2008,13(3):419-427.
[12]张凯.虚拟植物生长中树木的快速绘制:(硕士学位论文).长春:长春理工大学,2005.
[13]赵婷婷,徐满华,魏小鹏.分形图绘制的几种常用方法.大连大学学报,2002,23(6):38-42.
[14]潘陆益.IFS分形图拟仿射变换模型及其实现.计算机系统应用,2008,6(1):83-86.
[15]Michael Frane,Maureen Angers.Some Nonlinear Iterated FunctionSystems.Computer & Graphics,1994,18(1):119-125.
[16]P Prusinkiewicz,M Hammel,E Mjolsness.Animation of Plant Development.Computer Graphics,1993,27(3):351-360.
[17]王科伦,王德强,刘英.基于L系统的三维树木模拟.系统仿真技术及其应用,2007,20(9):509-511.
[18]王方石.L系统在植物模拟中的应用.北方交通大学学报,1998,22(3):45-48.
[19]郝小琴.森林景物的三维迭代函数系统建模技术的研究.计算机学报,1999,22(7):768-773.
[20]Jeremy T Barron,Brian P Sorge,Thmothy A.Real-Time Procedural Animition of Trees.Eurgraphics.2001,25(4):35-43.
[21]樊丽萍,邹荣金.二维半自由曲面造型技术与雕刻系统.计算机工程,1998,24(8):16-19.
[22]杨淮清,于舜.基于二维半的半结构对象建模方法研究.微计算机信息,2009,25(1-3):274-275.
[23]Bloomenthal Jules.Modeling the Mighty Maple.Computer Graphics.1985,19(3):305-311.
[24]张菊艳,郭改文,黄卡玛.自然树的生长竞争模型及程序实现.信息与电子工程,2007,5(1):11-14.
[25]陈颖,吴士达.自然景物树的视觉模拟.成都气象学院学报,1995,10(4):327-331.
[26]徐盛,袁震东.树木成长过程的计算机仿真-人工生命的一个问题.东南大学学报(自然科学版),2003,33(4):190-193.
[27]黄辉.基于L系统的虚拟园林观赏树木生长建模研究:(硕士学位论文).长沙:中南林业科技大学,2006.
[28]Somporn Chuai-aree,Suchada Siripant,Chidchanok Lursinsap.Animating Plant Growth in L-System By Parametric Functional Symbols.Int.J.Intell.Syst.2004,19(1-2):9-23.
[29]Donald Hearn,M Pauline Baker.Computer Graphics with OpenGL(Third Edition).北京:电子工业出版社,2004,266-275.
[30]徐杨,朱林,常明.树木三维形态结构的计算机建模.计算机工程与应用,2001,21(4):141-143.
[31]杨继,郭友好,杨雄等.植物生物学.北京:高等教育出版社,师普林格出版社.1999.
[32]潘云鹤,毛卫强.基于交互变形的树木三维建模研究.计算机辅助设计与图形学学报,2001,13(11):1035-1042.
[33]Reeves William T.Particle Systems-Technique for Modeling a Class of Fuzzy Objects.Computer Graphics(ACM).1983,17(3):359-376.
[34]Musgrove P J.Wind Energy Conversion-an Introduction.IEEE Proceedings,Part A:Physical Science,Measurement and Instrumentation,Management end Educati.1983,130(9):506-516.
[35]Foster N,Fedkiw R.Practical Animation of Liquids.Proceedings of the ACM SIGGRAPH Conference on Computer Graphics.2001:23-30.
[36]巩翠芝,刘一星,崔永志等.利用环境扫描电子显微镜原位监测木材的断裂过程.东北林业大学学报,2007,35(6):7-9.
[37]白雪冰,王科俊,邹丽晖.基于灰度共生矩阵的木材表面缺陷图像的纹理分割方法.东北林业大学学报,2008,36(12):23-27.
[38]陈晓,彭国华,赵丛.基于分形三维L系统的真实树木摇曳动态模拟.计算机工程与应用,2008,44(26):77-79.
[39]柳有权,王文成,吴恩华.快速真实地生成树的自然摇曳.计算机学报,2005,28(7):1185-1191.
[40]Stam Jos.Stochastic Dynamics.Simulating the Effects of Turbulence on Flexible Structures.Computer Graphics Forum.1997,16(3):159-164.
[41]Weber Jason,Penn Joseph.Creation and Rendering of Realistic Trees.Proceedings of the ACM SIGGRAPH Conference on Computer Graphics.1995:119-126.
[42]车向前,王国权,程俊厌.一种基于区域识别的参考点形心提取算法.计算机仿真,2008,25(7):177-179.
[2]蔡丽,李恩,梁自泽等.巡线机器人越障行为的模糊控制研究.控制系统,2008,24(12-1):24-26.
[3]祖莉.智能割草机器人全区域覆盖运行的控制和动力学特性研究:(博士学位论文).南京:南京理工大学,2005.
[4]陈家乾,何衍,蒋静坪.自主移动机器人的室内结构化环境地图创建.控制理论与应用,2008,25(4):767-772.
[5]佟玲,郑育红.21世纪农业机械发展的趋势-农业机器人的应用.农机与食品机械,1996,11(6):2-4.
[6]董文成.机器人的军事应用.机器人,1985,12(6):64-66.
[7]陈彦云,林珲,孙汉秋等.高度复杂植物场景的构造和真实感绘制.计算机学报,2000,23(9):917-924.
[8]田雨.对分形算法中递归法的研究.四川大学学报(自然科学版),2007,44(5):990-994.
[9]陈东方,吴国红.基于带参IFS的3D分形树及其摇曳形态的实现.计算机与现代化,2007,14(9):9-11.
[10]赵欣,林和平.三维分形树木模型在3D GIS中的应用.吉林大学学报(信息科学版),2003,21(3):307-311.
[11]王兴元,石其江,孙天凯.基于IFS理论的数字水印算法.中国图象图形学报,2008,13(3):419-427.
[12]张凯.虚拟植物生长中树木的快速绘制:(硕士学位论文).长春:长春理工大学,2005.
[13]赵婷婷,徐满华,魏小鹏.分形图绘制的几种常用方法.大连大学学报,2002,23(6):38-42.
[14]潘陆益.IFS分形图拟仿射变换模型及其实现.计算机系统应用,2008,6(1):83-86.
[15]Michael Frane,Maureen Angers.Some Nonlinear Iterated FunctionSystems.Computer & Graphics,1994,18(1):119-125.
[16]P Prusinkiewicz,M Hammel,E Mjolsness.Animation of Plant Development.Computer Graphics,1993,27(3):351-360.
[17]王科伦,王德强,刘英.基于L系统的三维树木模拟.系统仿真技术及其应用,2007,20(9):509-511.
[18]王方石.L系统在植物模拟中的应用.北方交通大学学报,1998,22(3):45-48.
[19]郝小琴.森林景物的三维迭代函数系统建模技术的研究.计算机学报,1999,22(7):768-773.
[20]Jeremy T Barron,Brian P Sorge,Thmothy A.Real-Time Procedural Animition of Trees.Eurgraphics.2001,25(4):35-43.
[21]樊丽萍,邹荣金.二维半自由曲面造型技术与雕刻系统.计算机工程,1998,24(8):16-19.
[22]杨淮清,于舜.基于二维半的半结构对象建模方法研究.微计算机信息,2009,25(1-3):274-275.
[23]Bloomenthal Jules.Modeling the Mighty Maple.Computer Graphics.1985,19(3):305-311.
[24]张菊艳,郭改文,黄卡玛.自然树的生长竞争模型及程序实现.信息与电子工程,2007,5(1):11-14.
[25]陈颖,吴士达.自然景物树的视觉模拟.成都气象学院学报,1995,10(4):327-331.
[26]徐盛,袁震东.树木成长过程的计算机仿真-人工生命的一个问题.东南大学学报(自然科学版),2003,33(4):190-193.
[27]黄辉.基于L系统的虚拟园林观赏树木生长建模研究:(硕士学位论文).长沙:中南林业科技大学,2006.
[28]Somporn Chuai-aree,Suchada Siripant,Chidchanok Lursinsap.Animating Plant Growth in L-System By Parametric Functional Symbols.Int.J.Intell.Syst.2004,19(1-2):9-23.
[29]Donald Hearn,M Pauline Baker.Computer Graphics with OpenGL(Third Edition).北京:电子工业出版社,2004,266-275.
[30]徐杨,朱林,常明.树木三维形态结构的计算机建模.计算机工程与应用,2001,21(4):141-143.
[31]杨继,郭友好,杨雄等.植物生物学.北京:高等教育出版社,师普林格出版社.1999.
[32]潘云鹤,毛卫强.基于交互变形的树木三维建模研究.计算机辅助设计与图形学学报,2001,13(11):1035-1042.
[33]Reeves William T.Particle Systems-Technique for Modeling a Class of Fuzzy Objects.Computer Graphics(ACM).1983,17(3):359-376.
[34]Musgrove P J.Wind Energy Conversion-an Introduction.IEEE Proceedings,Part A:Physical Science,Measurement and Instrumentation,Management end Educati.1983,130(9):506-516.
[35]Foster N,Fedkiw R.Practical Animation of Liquids.Proceedings of the ACM SIGGRAPH Conference on Computer Graphics.2001:23-30.
[36]巩翠芝,刘一星,崔永志等.利用环境扫描电子显微镜原位监测木材的断裂过程.东北林业大学学报,2007,35(6):7-9.
[37]白雪冰,王科俊,邹丽晖.基于灰度共生矩阵的木材表面缺陷图像的纹理分割方法.东北林业大学学报,2008,36(12):23-27.
[38]陈晓,彭国华,赵丛.基于分形三维L系统的真实树木摇曳动态模拟.计算机工程与应用,2008,44(26):77-79.
[39]柳有权,王文成,吴恩华.快速真实地生成树的自然摇曳.计算机学报,2005,28(7):1185-1191.
[40]Stam Jos.Stochastic Dynamics.Simulating the Effects of Turbulence on Flexible Structures.Computer Graphics Forum.1997,16(3):159-164.
[41]Weber Jason,Penn Joseph.Creation and Rendering of Realistic Trees.Proceedings of the ACM SIGGRAPH Conference on Computer Graphics.1995:119-126.
[42]车向前,王国权,程俊厌.一种基于区域识别的参考点形心提取算法.计算机仿真,2008,25(7):177-179.