Omnidirectional stereo vision three-dimensional rebuilding method based on Taylor series model

A Taylor series and three-dimensional reconstruction technology, applied in the field of computer vision, can solve problems that have not been reported in any reports, and achieve the effect of wide application and high precision

Inactive Publication Date: 2009-01-28
ZHEJIANG UNIV
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  • Omnidirectional stereo vision three-dimensional rebuilding method based on Taylor series model
  • Omnidirectional stereo vision three-dimensional rebuilding method based on Taylor series model
  • Omnidirectional stereo vision three-dimensional rebuilding method based on Taylor series model

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[0028] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0029] figure 1 A flow chart of the omnidirectional three-dimensional reconstruction method based on the Taylor series model according to the present invention is given.

[0030] Such as figure 1 As shown, in step 101, the omnidirectional vision sensor used is calibrated, and the Taylor series omnidirectional imaging model used is available figure 2 express. Point P in the 3D world w First project to the mirror point P m , and then imaged at the image point p i . This model uses Taylor series to approximate the non-linear mapping relationship between three-dimensional space points and image planes in various omnidirectional imaging modes, as shown in the following formula.

[0031] f(ρ)=a N ρ N +a N-1 ρ N-1 +…+a 1 ρ+ a 0

[0032] in, ρ = λ u 2 ...

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Abstract

The invention discloses an omni-directional stereo vision three-dimensional reconstruction method based on Taylor series models. The method comprises the following: a step of calibrating a camera, which is to utilize a Taylor series model to calibrate an omni-directional vision sensor so as to obtain internal parameters of the camera; a step of obtaining epipolar geometric relation, which comprises the steps of calculating an essential matrix between binocular omni-directional cameras and extracting the rotation and translation component of the cameras; a step of correcting an outer polar line, which is to correct the outer polar line of a shot omni-directional stereo image so as to allow a corrected polar quadratic curve to coincide with an image scan line; and a step of three-dimensional reconstruction, which is to carry out feature point matching to the corrected stereo image and calculate the three-dimensional coordinates of points according to matching results. The method can be applicable to various omni-directional vision sensors, has the characteristics of wide application range and high precision, and can carry out effective three-dimensional reconstruction under the condition that the parameters of the omni-directional vision sensors are unknown.

Description

technical field [0001] The invention relates to a computer vision method for acquiring three-dimensional information of a scene within a range of 360 degrees, in particular to an omnidirectional stereoscopic three-dimensional reconstruction method based on a Taylor series model. Background technique [0002] As a special imaging mechanism for perceiving the environment, omnidirectional vision sensors overcome the shortcomings of traditional cameras that can only perceive local environments, and are widely used in more and more fields, such as security monitoring, video conferencing, and image-based modeling. and robot navigation. Among the current omnidirectional imaging methods, the catadioptric system is the easiest and quickest way to obtain a 360° field of view. It consists of a normal camera and a reflective mirror. For example, it can be composed of a hyperbolic mirror, an elliptical mirror or a conical surface and a perspective camera, it can also be composed of a p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/00G06T7/00
Inventor 杜歆颜瑞雷杰朱云芳刘济林刘加海
Owner ZHEJIANG UNIV
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