Omnibearing 3D (Three-Dimensional) modeling system based on initiative omnidirectional vision sensor

Abstract

The invention discloses an omnibearing 3D (Three-Dimensional)modeling system based on an initiative omnidirectional vision sensor, which comprises an omnibearing vision sensor, a mobile surface laser source and a microprocessor used for carrying out 3D omnidirectional reconstruction on an omnibearing image, wherein the center of the omnibearing vision sensor and the center of the mobile surface laser source are configured on the same axes line; and the microprocessor comprises a video image reading module, an omnibearing vision sensor calibrating module, a Bird-View conversion module, an omnibearing laser information analyzing module, a joint calibrating module, a position estimating module of a linear motor of the mobile surface laser source, a computing module of point cloud geographic information of a mobile surface, a fusion module of Geographic information and color information of a point cloud, an omnibearing 3D model constructing module constructed by using position information of the mobile surface, an omnibearing 3D model generation module and a storage unit. By using the omnibearing 3D modeling system based on the initiative omnidirectional vision sensor, the perfect integration of geographic accuracy and third dimension of reconstruction of an omnibearing 3D model as well as reconstruction process automation is realized.

Description

technical field [0001] The invention relates to the application of laser light source, omnidirectional visual sensor and computer vision technology in stereoscopic vision measurement, especially a kind of omnidirectional three-dimensional model reconstruction technology based on active stereo panoramic vision sensor, which is mainly used in robot navigation and three-dimensional reconstruction . Background technique [0002] Binocular stereo vision 3D measurement and stereo reconstruction technology based on computer vision is an emerging application technology with great development potential and practical value, which can be widely used in industrial inspection, geographical survey, medical cosmetic surgery, orthopedic orthopedics, Reproduction of cultural relics, criminal investigation and evidence collection, security identification, robot vision, rapid prototyping of molds, gifts, virtual reality, animated films, games and many other application fields. The reconstruct...

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Problems solved by technology

[0008] In order to overcome the deficiencies of the existing passive panoramic stereo vision measurement device, such as large computer resource consumption, poor real-time performance, poor practicability, and low robustness, and the active three-dimensional stereo panoramic vision measurement device with full-color panoramic LED light source is vulnerable to the environment In view of the lack of light interference, the present invention provides an active-based system that can reduce the consumption of computer resources, quickly complete the measurement, have good real-time performance, strong practicability, and high robustness by directly obtaining the positional geometric information and color information of three-dimensional points in space. All-round 3D modeling system for panoramic vision sensor

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