Three-dimensional reconstruction method of panoramic image in mixed vision system

Abstract

The invention relates to a three-dimensional reconstruction method of a panoramic image in a mixed vision system. The mixed vision system comprises an RGB-D (Red Green Blue-Digital) camera and a panoramic camera. The method comprises the following steps: firstly, calibrating the mixed vision system, thereby obtaining internal and external parameters of the mixed vision system; secondly, determining a common field of view of the mixed vision system according to a space relation and the internal and external parameters of the mixed vision system; then obtaining characteristic matching points of the common field of view of the mixed vision system on the basis of SIFT (Scale Invariant Feature Transform)+RANSAC (Random Sample Consensus); and finally, on the basis of depth information of the RGB-D camera, carrying out three-dimensional reconstruction on the matching characteristic points in the panoramic camera. The three-dimensional reconstruction method has the advantages that three-dimensional information of characteristic points in the common field of view in the panoramic image in the mixed vision system can be obtained, and three-dimensional reconstruction of the panoramic image with low complexity and high quality can be realized.

Description

technical field [0001] The invention belongs to the technical field of machine vision, and in particular relates to a technique for efficient and accurate three-dimensional reconstruction of panoramic images in a novel hybrid vision system, that is, a method for three-dimensional reconstruction of panoramic images in a hybrid vision system. Background technique [0002] With the invention of RGB-D camera, RGB-D camera provides convenience for real-time acquisition of depth information. An RGB-D camera consists of an RGB camera and an IR depth camera. RGB-D is not only cheap but also can simultaneously capture the depth map and texture map of the field of view. Experts and scholars at home and abroad are paying more and more attention to the research of RGB-D cameras. Among them, the new hybrid vision system composed of RGB-D cameras and panoramic vision has attracted the attention of many scholars. It combines the advantages of real-time acquisition of depth information by...

AI Technical Summary

Problems solved by technology

These matching algorithms contain some special matching strategies or manual steps, which affect the robustness and automation of 3D reconstruction; if the object changes, it may have a negative impact on the performance of the algorithm; in terms of reconstruction accuracy, since the binocular system mainly uses stereo Matching algorithm, so the system is very dependent on reliable disparity of pixels, and finally these problems in matching lead to low quality 3D reconstruction of image feature points

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