Journal of Geo-information Science >
Complex Roof Structure Reconstruction by 3D Primitive Fitting from Point Clouds
Received date: 2022-11-28
Revised date: 2023-04-15
Online published: 2023-07-14
Supported by
National Natural Science Foundation of China(41801295)
National Culture and Tourism Science and Technology Innovation Project(2019-008)
Geometric and semantic integration of 3D building models are important infrastructure data for smart city, they are conducive for promoting the refined management and intelligent application of building facilities. However, most of the existing point cloud-based modeling methods focus on the reconstruction of geometric models with simple roof structure, and semantic and topological relations are ignored. Moreover, these methods are sensitive to noise, which are difficult to assure topological consistency and geometric accuracy. To solve these problems, this paper proposes a 3D primitive fitting algorithm for automatically reconstructing building models with complex roof structure from point clouds. Firstly, a 3D building primitive library is designed, including various 3D building primitives with simple and complex roof types. Secondly, an individual building point cloud input is segmented into multiple planes using RANSAC algorithm. The Roof Topology Graph (RTG) is then generated according to the relationship of roof planes, and the roof type of point cloud is subsequently recognized by comparison of RTG between point cloud and building primitives. Thirdly, the reconstruction is formulated as an optimization problem that minimizes the Point-to-Mesh Distance (PMD) between the point cloud and the candidate meshed building primitive. The sequential quadratic programming optimization algorithm with necessary constraints is adopted to perform holistically primitive fitting, so as to estimate the shape and position parameters of a 3D primitive. Finally, the parameterized model is automatically converted into City Geography Markup Language (CityGML) building model based on the prior 3D building primitive. The generated CityGML LoD2 (second level of detail) models are different from mesh models created by conventional building modeling methods, which are represented with geometric, semantic, and topological information. To evaluate the quality and performance of the proposed approach, airborne lidar and photogrammetric building point clouds with different roof structures are collected from public datasets for test. Several building models with complex roof types are successfully reconstructed by using this approach, and the average PMD of five models is 0.17 m. The proposed algorithm is also compared with three other methods. Experimental results indicate that the proposed method achieves the best geometric accuracy, because the average PMD of each model is less than that of other methods. Moreover, this automatic primitive fitting method is efficient, and it is also robust to noise and local data missing. This study demonstrates that the resulting building models can well fit the input point cloud with topologic integrity and rich semantic. This method provides great potential for accurate and rapid reconstruction of geometric-semantic coherent building models with complex roof condition.
Key words: building; complex roof; point cloud; 3D reconstruction; 3D primitive; CityGML; semantic; model-driven
ZHANG Wenyuan , CHEN Jiangyuan , TAN Guoxin . Complex Roof Structure Reconstruction by 3D Primitive Fitting from Point Clouds[J]. Journal of Geo-information Science, 2023 , 25(8) : 1531 -1545 . DOI: 10.12082/dqxxkx.2023.220927
表1 建筑物3D基元形状参数初值Tab.1 Initial values of shape parameters for some building primitives |
形状参数 | 数学表达 | 描述 |
---|---|---|
坐标的最大值与最小值之差 | ||
坐标的最大值与最小值之差 | ||
取一定数量的 坐标最大的点,求其 坐标最大值与最小值之差 | ||
取一定数量的 坐标最大的点,求其 坐标最大值与最小值之差 | ||
坐标最大值与最小值之差×0.3 | ||
坐标最大值与最小值之差×0.7 | ||
X轴方向上的屋脊线候选点的最大 坐标 | ||
Y轴方向上的屋脊线候选点的最大 坐标 |
表2 点云屋顶类型识别结果Tab. 2 Roof type recognition results of different point clouds |
ID | 点云分割结果 | 邻接矩阵 | 建筑类型 | 参考影像 |
---|---|---|---|---|
sensefly_1 | ![]() | 双坡L型 | ![]() | |
sensefly_2 | ![]() | 四坡L型 | ![]() | |
sensefly_3 | ![]() | 四坡L型 | ![]() | |
ISPRS_1 | ![]() | 双坡L型 | ![]() | |
ISPRS_2 | ![]() | 四坡T型 | ![]() |
表3 点云与3D基元拟合结果Tab. 3 3D primitive fitting result of point clouds with different roof types |
ID | 点云数据 | 点云与基元拟合结果 | 参考影像 |
---|---|---|---|
sensefly_1 | ![]() | ![]() | ![]() |
sensefly_2 | ![]() | ![]() | ![]() |
sensefly_3 | ![]() | ![]() | ![]() |
ISPRS_1 | ![]() | ![]() | ![]() |
ISPRS_2 | ![]() | ![]() | ![]() |
点云对象PMD值/m ![]() |
表4 建筑点云三维重建结果的几何精度统计Tab. 4 Geometric accuracy statistics of building reconstruction from several point clouds |
建筑ID | 点数/个 | 屋顶类型 | 平均PMD/m |
---|---|---|---|
sensefly_1 | 5 463 | 双坡L型 | 0.086 0 |
sensefly_2 | 5 879 | 四坡L型 | 0.102 0 |
sensefly_3 | 12 082 | 四坡L型 | 0.102 7 |
ISPRS_1 | 3 864 | 双坡L型 | 0.386 6 |
ISPRS_2 | 1 665 | 四坡T型 | 0.164 5 |
表5 CityGML LoD2模型构建结果Tab. 5 Generated CityGML LoD2 building models from parameterized models |
ID | 参数化几何模型 | CityGML LoD2模型 |
---|---|---|
sensefly_1 | ![]() | ![]() |
sensefly_2 | ![]() | ![]() |
sensefly_3 | ![]() | ![]() |
ISPRS_1 | ![]() | ![]() |
ISPRS_2 | ![]() | ![]() |
注:红色表示屋顶面,灰色表示墙面和地面。 |
表6 不同建模方法的几何精度比较Tab. 6 Comparison of geometric accuracy for different methods |
建筑ID | 平均PMD/m | |||
---|---|---|---|---|
Delaunay | RANSAC | Li[15]方法 | 本文方法 | |
sensefly_1 | 0.989 5 | 0.097 2 | 0.420 7 | 0.086 0 |
sensefly_2 | 0.511 1 | 0.138 2 | 1.491 6 | 0.102 0 |
sensefly_3 | 0.491 8 | 0.106 9 | 0.297 9 | 0.102 7 |
ISPRS_1 | 0.593 8 | 0.596 3 | 1.025 0 | 0.386 6 |
ISPRS_2 | 0.275 0 | 0.827 3 | 1.618 6 | 0.164 5 |
表7 不同建模方法的效率对比Tab. 7 Comparison of efficiency for different methods |
建筑ID | 耗时/s | |||
---|---|---|---|---|
Delaunay | RANSAC | Li[15]方法 | 本文方法 | |
sensefly_1 | 0.70 | 1.49 | 517.79 | 84.27 |
sensefly_2 | 1.02 | 1.35 | 1 274.70 | 162.99 |
sensefly_3 | 2.98 | 1.68 | 2 158.06 | 302.87 |
ISPRS_1 | 0.96 | 1.15 | 219.10 | 44.76 |
ISPRS_2 | 0.83 | 0.98 | 99.98 | 47.47 |
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