引用本文: 付永健, 李宗春, 何华. 点云内在属性因子驱动的自适应滚球算法[J]. 武汉大学学报 ( 信息科学版), 2020, 45(3): 353-361.
FU Yongjian, LI Zongchun, HE Hua. A New Self-adaptive Ball Pivoting Algorithm Driven by an Intrinsic Property Factor of Point Cloud[J]. Geomatics and Information Science of Wuhan University, 2020, 45(3): 353-361.
 Citation: FU Yongjian, LI Zongchun, HE Hua. A New Self-adaptive Ball Pivoting Algorithm Driven by an Intrinsic Property Factor of Point Cloud[J]. Geomatics and Information Science of Wuhan University, 2020, 45(3): 353-361.

## A New Self-adaptive Ball Pivoting Algorithm Driven by an Intrinsic Property Factor of Point Cloud

• 摘要: 采用滚球算法（ball pivoting algorithm，BPA）重建非均匀点云时会产生较多孔洞或冗余三角形，对此先定义一种点云内在属性因子，提出了一种自适应BPA算法，并用重建曲面表面积定量评价曲面重建质量。首先，根据点云法向、位置、点间距离、关系等信息选取3个恰当的孤立点，构建种子三角形；其次，计算每条拓展边的点云内在属性因子，并结合拓展边长等信息，自适应地确定滚球半径r；最后，将半径为r的滚球沿着拓展边滚动，选取合适的第三点拓展三角形网格。采用龙、兔点云进行曲面重建实验，实验结果表明，无论是均匀点云还是非均匀点云，此算法均能自适应地重建出点云表面模型，重建过程无需人工干预，算法稳健、高效，重建结果质量较高。

Abstract: To solve the shortcoming that there will be some holes and/or redundant triangles when non-uniform point cloud is reconstructed by BPA(ball pivoting algorithm), a new self-adaptive ball pivoting algorithm is proposed. The improved algorithm is driven by an intrinsic property of point cloud, which is initially proposed. And according to the reconstructed surface area, a new method of surface reconstruction quality evaluation is also proposed. Firstly, three isolated points are selected to build a seed triangle, according to the points' vectors, position, spacing, connection and so on. Then, the radius r of the pivoting ball is adaptively calculated based on the intrinsic property of point cloud and front edge length. Finally, a suitable third point is selected by pivoting the ball of radius r around the front edge, to expand the triangulation. Experiments on Dragon and Bunny point cloud show that the proposed algorithm can adaptively reconstruct the surface of both uniform and non-uniform point cloud.Moreover, it is robust, efficient and needs no manual intervention. The reconstructed surface is of high-quality according to the proposed method of surface reconstruction quality evaluation.

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