Reversing image three-dimensional (3D) scene reconstruction method and system

Abstract

The invention relates to a reversing image three-dimensional (3D) scene reconstruction method and system. The invention discloses the following steps that (S100) continuous multi-frame images at the rear part of a vehicle are acquired, and the characteristic points of each frame of image are extracted; (S200) the characteristic points of adjacent two frames of images are tracked and matched; (S300) for the characteristic points which are matched successfully, the coordinates of the corresponding points of the two characteristic points in a space are computed through an outer-pole geometrical principle; two 3D reconstruction images without absolute scale of view are obtained; and (S400) steps S100 to S300 are repeated and the 3D reconstruction of the continuous multi-frame images without absolute scale is completed. According to the reversing image 3D scene reconstruction method and the system, the problem that a blind area is produced when a traditional ultrasonic reversing system meets a small obstacle and the problem of the sense of distance of a traditional video 2D reversing image system are solved, a moving object behind the vehicle can be extracted in real time so as to give key alarm, provide clearer and more accurate visual feedback to a user, and improve the safety in reversing. In addition, the whole system can be based on existing hardware equipment, a technology is mature, the cost is low, and large-scale popularization and use are facilitated.

Description

technical field [0001] The present invention relates to a kind of G06 calculation; reckoning; counting G06T general image data processing or processing to generate G06T15 / 003D [three-dimensional] image. Background technique [0002] In recent years, with the growth of car ownership, the number of traffic accidents has also increased year by year. Statistics show that the proportion of traffic accidents caused by blind spots behind vehicles has reached 30% in China, and this proportion is as high as 20% in the United States. In response to this problem, many kinds of reversing auxiliary devices have been born in recent years to help drivers judge the environment behind the vehicle and prevent scratches and collisions with people and objects behind the vehicle. At present, the reversing auxiliary device is mainly divided into two technical routes. One is a reversing radar device based on ultrasonic ranging technology; the other is a reversing imaging device based on image se...

AI Technical Summary

Problems solved by technology

Although the reversing image device composed of a single camera has a wide coverage and intuitive effects, it also has great limitations. On the one hand, due to the lens angle of view, optical distortion, perspective effects and other images, the reversing image display has certain distortion compared with the real scene, which may It leads to misjudgment by the driver; on the other hand, the reversing image shows only a 2D plane image, and it is difficult for the driver to obtain a real sense of distance from it, and it is also difficult to make an accurate judgment on the height of obstacles

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