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Characteristic point three-dimensional reconstruction method based on trifocal tensor

A technology of three-dimensional reconstruction and feature points, which is applied in measurement devices, image data processing, instruments, etc., can solve the problems of poor robustness and low accuracy of three-dimensional reconstruction results, and achieve the effect of easy operation, high calculation accuracy and high calculation accuracy.

Inactive Publication Date: 2010-06-23
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Using the 3D reconstruction method with two views, the 3D reconstruction results are poor in robustness and low in accuracy

Method used

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  • Characteristic point three-dimensional reconstruction method based on trifocal tensor
  • Characteristic point three-dimensional reconstruction method based on trifocal tensor
  • Characteristic point three-dimensional reconstruction method based on trifocal tensor

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Embodiment Construction

[0037] Before implementing the inventive method, need to carry out following preparatory work:

[0038] Prepare an ordinary hand-held digital camera; a ruler with different pattern coding points pasted on both ends, and the distance between the two patterns is strictly calibrated; a set of coding points and marking points and an ordinary personal computer. Among them, the resolution of the digital camera is more than 10 million pixels, and the internal parameters are strictly calibrated, mainly including the principal point and focal length;

[0039] Such as Figure 1A , 1B As shown, the production of code point 2, mark point 1 and scale 3 is as follows: each code point 2 has a unique ID number corresponding to it due to having a pattern different from other code points. The size is 70×70mm, black non-reflective background color, white circular pattern, the code point can be printed out by ordinary printer, and then pasted on the plastic magnetic sheet to facilitate adsorptio...

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Abstract

The invention relates to a characteristic point three-dimensional reconstruction method based on trifocal tensor, which includes the following steps: coding points, marking points and a ruler are arranged on the surface of the measured object; a digital camera is used to take photos of the measured object in multiple angles, and the photos are inputted to a computer for image processing to obtain the image coordinates (xd, x'd and x''d); all images are rearranged for normalization treatment according to the image coordinates (xd, x'd and x''d); the trifocal tensor of each group of images is respectively calculated to determine the three-dimensional point coordinates of the coding points and the marking points; each group of three-dimensional point coordinates is processed to obtain the three-dimensional coordinates (x, y and z) of each point in the unified coordinate system; the specific value of the length and the actual length is calculated through the ruler to obtain new three-dimensional point coordinates (x', y' and z') in metric space; the new three-dimensional point coordinates (x', y' and z') receive focusing control to obtain integrally optimized three-dimensional point coordinates. The three-dimensional reconstruction method in the invention has high calculation accuracy, simple use, convenient operation, needs only a portable digital camera, a common laptop, a group of coding points and marking points, and a ruler.

Description

technical field [0001] The invention relates to computer vision image processing technology, in particular to a three-dimensional reconstruction method of feature points based on trifocal tensor. Background technique [0002] The development of computer vision technology provides strong technical support for the application of non-contact three-dimensional measurement technology in reverse engineering, industrial inspection and quality control. technology development. Such as structured light measuring instrument, triangulation method using line laser or spectral laser; reconstruction method of three-dimensional object using long sequence image of portable digital camera. Among them, the 3D reconstruction method that uses a single portable digital camera to take multiple photos to accurately restore the scene structure has been a research hotspot in the field of computer vision because of its simple hardware conditions and flexible and convenient measurement methods. So fa...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/24G01B11/03G06T7/00G06T7/80
Inventor 赵吉宾夏仁波刘伟军黄以君
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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