arXiv:2606.06505cs.CGcs.AI2026-06

用带不确定性的线段混合模型表示平面曲线,支持几何建模中的不确定性感知。

A Geometric Gaussian Mixture Representation of Plane Curves

论文配图:A Geometric Gaussian Mixture Representation of Plane Curves
图 1 · 摘自论文原文
  • 将曲线分段为带法向不确定性的线段,每段建模为切向均匀、法向高斯分布的随机变量
  • 通过匹配矩构造高斯混合模型,精准捕捉局部切线、法线和弧长特征
  • 适用于各类复杂曲线,适合需考虑误差的工业设计与机器人路径规划

我们提出一种用户定义的概率多边形表示法来描述平面曲线。给定一条曲线,选取其上的顶点并用线段连接相邻顶点,形成多边形近似。每段线段在法向上配备用户指定的不确定性参数,从而生成一组细长的概率几何基元,保留原始曲线的几何结构,并扩展至非确定性的一维理想化模型。对每一段,定义一个切向均匀分布、法向高斯分布的随机变量;通过匹配一阶和二阶中心矩,该构造生成一个均值位于线段中点、协方差同时编码切向与法向不确定性的高斯分量。将各段分量按适当权重组合,即可得到该用户定义概率多边形的高斯混合模型(GMM)表示。所提框架提供了一个解析可处理的概率模型,保留局部几何信息及法向不确定性,适用于光滑、闭合、开放、非规则及自相交的平面曲线,支持自适应离散化和变化的法向不确定性,因而支持不确定性感知的几何建模。在一系列典型平面曲线上的实验表明,所得GMM能准确捕获局部切线、局部法线和局部弧长信息,整体形状也得以忠实还原。该表示对不确定性感知的CAD、数字孪生、机器人中的概率障碍建模及概率轨迹规划具有重要意义。

原文摘要 · Abstract (English)

We introduce a user defined probabilistic polygonal representation for plane curves. Given a curve, we select vertices on the curve and connect consecutive vertices by line segments to obtain a polygonal approximation. Each segment is equipped with a user defined uncertainty parameter in the normal direction. This yields a collection of thin probabilistic geometric primitives that retain the geometrz of the underlying curve while extending it beyond the idealized deterministic one dimensional formulation. For each segment, we define a Random Variable that is uniform distributed in the tangent direction of the segment and Gaussian distributed in the normal direction of the segment. By matching the first and the second central moments, this construction induces a Gaussian component whose mean lies at the segment midpoint and whose covariance encodes both tangential and normal uncertainty. Combining the segment wise components with appropriate weights yields a Gaussian Mixture Model (GMM) representation of the user defined probabilistic polygonal representation of the plane curve. The proposed framework provides an analytically tractable probabilistic model that preserves local geometry, and uncertainty in the normal direction. It applies to smooth, closed, open, non regular, and self intersecting plane curves, allows adaptive discretization and varying uncertainty in the normal direction, and as a result supports uncertainty aware geometric modeling. Experiments on a collection of canonical plane curves show that the resulting GMM capture local tangent, local normal, and local arc length; resulting in the global shape of the underlying curves to be truthfully captured as well. The representation is particularly relevant for applications in uncertainty aware CAD and digital twins, probabilistic obstacle modeling in robotics, and probabilistic trajectory planning.

几何建模高斯混合不确定性建模

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