Method for three-dimensional reconstruction of laser speckle structured light and depth information

A technology of laser speckle and 3D reconstruction, applied in 3D reconstruction. domain, which can solve the problem of not being able to obtain the three world coordinates of the object point

Inactive Publication Date: 2014-08-06
CHONGQING UNIV
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Problems solved by technology

[0004] 3D reconstruction generally solves the world coordinates of the object point based on the calibrated camera through the known internal and external parameters of the calibration, and the solution proce

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  • Method for three-dimensional reconstruction of laser speckle structured light and depth information
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  • Method for three-dimensional reconstruction of laser speckle structured light and depth information

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[0027] figure 1 It shows the process of three-dimensional reconstruction of the present invention, and the implementation mode is described as follows:

[0028] 1. The algorithm flow of the present invention is as follows:

[0029] (1) Calibration for the first time. The first calibration determines the calibration accuracy in the subsequent use process. Because the field involved in the present invention is 3D reconstruction, the calibration accuracy requires a wide range, and different precision calibration methods can be selected in different 3D reconstruction scenarios.

[0030] (2) Select the appropriate world coordinate system. In the process of reconstructing the 3D scene, it is sometimes necessary to adjust or move the camera's attitude; for the case where no movement is required, the rotation matrix and translation matrix do not change and have no effect on the later calculation of the 3D coordinates; for the case where movement is required, As long as the appropri...

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Abstract

The invention provides a method for three-dimensional reconstruction of laser speckle structured light and depth information. The three-dimensional reconstruction technology is an important subject for machine vision research and refers to the content that a three-dimensional space geometrical shape of a three-dimensional body is restored through images of the three-dimensional body. Generally, three-dimensional reconstruction is conducted through the binocular parallax principle of a binocular camera or through a triangulation method or space codes are obtained through the structured light and the depth information is obtained through the triangulation method. The method aims at obtaining the depth information through the laser speckle structured light, a similar invention such as the kinect of the Microsoft Corporation also obtains the depth information (namely different depths are matched through a cross-correlation function of laser speckles) of an object through the method, and the difference is an algorithm for obtaining the depth information through the speckles. According to the method, parallel code number sorting is conducted on each pixel block one by one by a thinning window through multiple support vector machines, so that the depth of each pixel window is obtained, coordinates under a world coordinate system of the object are obtained by inversely solving a camera model through the depth information, and therefore the depth information with the higher accuracy can be obtained.

Description

technical field [0001] The invention belongs to the field of machine vision research, and is a three-dimensional reconstruction based on laser speckle structured light. Background technique [0002] Three-dimensional reconstruction technology is one of the important topics of machine vision research, which refers to the restoration of the three-dimensional geometric shape of three-dimensional objects through the image of three-dimensional objects. The general 3D reconstruction methods include triangulation through the binocular parallax principle of dual cameras, or spatial encoding through structured light, and depth information through triangulation. [0003] The present invention intends to use a laser speckle structured light to obtain depth information. Similar inventions such as Microsoft's kinect also use this method to obtain object depth information (matching different depths through the cross-correlation function of laser speckle) , the difference lies in the algo...

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Application Information

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IPC IPC(8): G06T17/00G06T7/00
Inventor 魏善碧柴毅唐建邓萍王诗年陈淳
Owner CHONGQING UNIV
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