Three-dimensional rebuilding method based on laser and camera data fusion

A technology of 3D reconstruction and data fusion, applied in the direction of optical devices, photogrammetry/video metrology, measuring devices, etc., can solve the problems of object 3D information loss, etc., and achieve the effect of reducing errors, fast and automatic acquisition and processing

Inactive Publication Date: 2009-11-18
NANCHANG HANGKONG UNIVERSITY
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Problems solved by technology

[0002] The real world is three-dimensional. For a long time, due to the limitation of the development level of science and technology, most of the data...

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  • Three-dimensional rebuilding method based on laser and camera data fusion

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Embodiment Construction

[0013] Such as figure 1 As shown, the present invention is realized in such a way that a calibration cube 3 is used as a calibration medium, and the surface of the calibration cube is a checkerboard grid of 50cm×50cm. Place the calibration cube in front of the laser rangefinder 1 and the camera 2, and ensure that the three edges of the calibration cube are captured by them simultaneously. The laser scans the calibration cube 3 to obtain the plane two-dimensional contour distance information, and the camera 2 captures the image information of the calibration cube 3 . In the image coordinate system, the straight line equations L1, L2, and L3 that calibrate the three edges of the cube can be obtained. In the laser coordinate system, the coordinates P of the laser points that are respectively emitted to the three edges can be obtained. l1 ,P l2 ,P l3 , transforming the coordinates of these three points into the image coordinate system should satisfy the straight line equation o...

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Abstract

A three-dimensional rebuilding method based on laser and camera data fusion is characterized in that the rebuilding method comprises the following steps: (1) a C++ language is adopted to compile a laser data automatic collecting platform based on a radar principle; (2) a rotation matrix R and a translation vector T are arranged between a camera coordinate system and a laser coordinate system; (3) a motion object is extracted and subdivided by utilizing an optical flow field region merging algorithm, thus further subdividing the point cloud corresponding to the motion object; and (4) guarantee of point cloud and image texture on the precise positioning is provided for the three-dimensional image texture mapping, thus realizing the three-dimensional rebuilding system based on data fusion. The three-dimensional rebuilding method has the advantages of quickly and automatically collecting and processing laser data, quickly completing the external labeling of the laser and CCD, effectively extracting and subdividing effective point clouds of the object in complex environment and exactly completing the three-dimensional rebuilding of the laser and CCD data of the object.

Description

technical field [0001] The invention relates to a three-dimensional reconstruction method based on laser and camera, in particular to a kind of laser data acquisition and processing; laser and CCD external calibration method; effective point cloud extraction and segmentation method; laser and CCD data fusion three-dimensional reconstruction method . Background technique [0002] The real world is three-dimensional. For a long time, due to the limitation of the development level of science and technology, most of the data we can obtain and effectively process and analyze are two-dimensional data, which makes the three-dimensional information of a large number of objects lost. With the development of computer technology, people's access to information has shifted from traditional two-dimensional plane images to three-dimensional images. In recent years, laser rangefinders based on the principle of radar have been developed rapidly, and they can obtain highly accurate 3D data ...

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Application Information

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IPC IPC(8): G01B11/24G01C11/00
Inventor 陈震
Owner NANCHANG HANGKONG UNIVERSITY
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