发表机构
Department of Engineering Cybernetics, NTNU（工程 cybernetics 系，NTNU）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对水下航行器获取数据覆盖不完整及传统方法表达能力有限问题，提出IBPA方法，通过改进球旋转算法，从流点云数据增量构建可定向流形网格，引入孔检测机制，支持复杂表面拓扑且无需先验假设。
AI 中文摘要
遥控水下航行器（ROV）和自主水下航行器（AUV）常被用于获取几何测深数据，但数据覆盖往往不完整。鉴于水下部署成本高，实时增量可视化表面覆盖对ROV和AUV操作人员决策很关键。传统方法如数字地形模型（DTM）表达能力有限。为此，将原始球旋转算法（BPA）改进为增量、实时、自由形式表面重建方法IBPA。该方法从流点云数据增量构建可定向流形网格，无需点云重叠或空间分布假设，还引入孔检测机制识别突出不完整网格区域，支持更复杂表面拓扑且无需先验结构假设。参考实现的源代码可获取。
英文摘要
Both Remotely Operated underwater Vehicles (ROVs) and Autonomous Underwater Vehicles (AUVs) are frequently deployed to acquire geometric bathymetric data. However, it is often discovered post-survey that the acquired data coverage is incomplete. Given the high operational cost associated with underwater deployments, it is essential to incrementally visualize surface coverage in real-time to support informed decision-making by both the operators of ROVs and the AUVs during data collection. In addition, traditional incremental surface reconstruction methods, such as Digital Terrain Models (DTMs), are inherently limited in expressiveness: they represent surfaces as height fields, allows only one elevation value per $(x, y)$ coordinate and thus cannot capture overhangs or vertical structures. To overcome these limitations, we adapt the original Ball Pivoting Algorithm (BPA) into an incremental, real-time, and free-form surface reconstruction method, referred to as Incremental BPA (IBPA). Our method incrementally constructs an orientable, manifold mesh from streaming point cloud data without imposing assumptions regarding point cloud overlap or spatial distribution. Furthermore, we introduce a hole detection mechanism that identifies and highlights incomplete mesh regions. Compared to existing approaches, our method supports more complex surface topologies without prior structural assumptions. The source code of our reference implementation is available: https://github.com/Mauhing/Incremental-BPA
CommentsThe source code will be made public after the pre-print paper is available online
