引用本文: 吴健康, 高枫. 广义的以物体为中心的行程编码--一种新的三维物体模型[J]. 机器人, 1990, 12(5): 35-39.
WU Jiankang, GAO Feng. GENERALIZED OBJECT-ORIENTED RUNLENGTH CODING A NEW 3-D MODEL[J]. ROBOT, 1990, 12(5): 35-39.
 Citation: WU Jiankang, GAO Feng. GENERALIZED OBJECT-ORIENTED RUNLENGTH CODING A NEW 3-D MODEL[J]. ROBOT, 1990, 12(5): 35-39.

## GENERALIZED OBJECT-ORIENTED RUNLENGTH CODING A NEW 3-D MODEL

• 摘要: 三维物体的表达和识别是图象理解和场景分析的核心问题，三维模型在三维物体的识别和场景分析中具有十分重要的作用．三维模型应该是以物体为中心的，能够提供该场景的所有有用信息．物体的大小，形状及朝向应均可从该模型中提取得到．本文提出了一种新的三维物体模型--广义的以物体为中心的行程编码．它包括物体的GORC物理数据结构，详细的形状描述和抽象描述．物体的高层次的表达可以通过以GORC编码的物理数据直接提取得到．三维的GORC是二维的以物体为中心的行程编码在三维上的推广，它兼有物体的体积表达和表面表达的优点．三维物体的GORC模型可以很容易地由其深度信息构造得出，基于GORC的投影运算，图象代数运算以及特征提取均可非常有效地实现．

Abstract: In the development of robot with vision capability, representation and shape rccognition of three dimensionalobjects are of crucial importance. 3-D model plays a very important role in 3-D object and scene understanding. 3-D model should beobject-centered, providing the most useful measure of scene. The size, shape, and orientation of objects can be derived from it. This paper proposes a 3-D GORC model, i.e.,a Generalized Object-oriented Runlength Coding model. Itconsists of a GORC physical data structure, detailed shape description and abstract description. 3-D GORC is anextended one of the 2-D object-oriented runlength coding. GORC 3-D model can be easily constructed fromdepthmap obtained directly by range finder with phase-modulated light. It has both advantages of volume repre-sentation and surface representation. Projection onto 2-D space, image algebraic operations and feature extractioncan be performed on GORC coded 3-D object efficiently.

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