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Multi-view three-dimensional online reconstruction method

A multi-view, three-dimensional technology, applied in the field of computer vision, can solve problems such as slow reconstruction speed

Inactive Publication Date: 2014-12-03
SHANGHAI DEEP IND INSPECTION TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When using it, you need to use two cameras. Secondly, the reconstruction speed of structured light is slow, which is not suitable for industrial production lines. Thirdly, if you want to reconstruct the complete information of the upper surface of the object, you need to use it with a robot arm.

Method used

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Experimental program
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Embodiment 1

[0027] Such as Figure 4 As shown, the 3D reconstruction structure consists of an industrial camera and a laser.

[0028] Matrix and translation matrix, calibrate the average running speed v of the conveying belt.

[0029] The laser on the top is perpendicular to the moving direction of the object, the angle between the camera and the laser is 45°, and the distance between the camera and the laser is 40cm. The angle between the side lasers and the top laser is 90°, the three laser planes are kept parallel, and the angle between the camera and the side laser is 45°.

[0030] Put the object on the conveyor belt, and when the conveyor belt moves, the laser light from the laser shines on the surface of the object.

[0031] Such as image 3 As shown, the rotation matrix is ​​R=[r 1 , r 2 , r 3 ], the translation matrix is ​​t. , calibrate the spatial plane parameters of each group of laser planes in the corresponding camera coordinate system, which are respectively counted a...

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Abstract

The invention provides a multi-view three-dimensional online reconstruction method. The method includes the following steps: internal parameters of a camera are calibrated and laser plane equation parameters are calibrated under a camera coordinate system and an average operating speed of a conveyor belt which conveys an object is obtained through measurement; when the object which reaches the conveyor belt moves continuously, laser ray radiates different positions of the object and three-dimensional data is obtained when the laser ray radiates a specific position of the object according to the laser plane equation parameters and the cameral internal parameters; and according to the average operating speed, complete three-dimensional data of the surfaces of the object is obtained. Compared with the prior art, the multi-view three-dimensional online reconstruction method is capable of reconstructing complete three-dimensional data of surfaces (except the lower surface) of an object on a production line in a multi-view real-time manner and providing complete three-dimensional data information to online detection.

Description

technical field [0001] The invention relates to the technical field of computer vision, in particular to a multi-view three-dimensional online reconstruction method. Background technique [0002] Three-dimensional reconstruction (3D Reconstruction) is to establish a mathematical model suitable for computer representation and processing of three-dimensional objects. It is the basis for processing, operating and analyzing its properties in a computer environment. key technologies. [0003] In computer vision, 3D reconstruction refers to the process of reconstructing 3D information from single-view or multi-view images. Since the information of a single video is incomplete, 3D reconstruction requires the use of empirical knowledge, while multi-view 3D reconstruction (similar to binocular positioning of people) is relatively easy. The method is to calibrate the camera first, that is, calculate the image of the camera The relationship between the coordinate system and the world...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/00G06T7/00G01B11/24
Inventor 宋金龙万杨
Owner SHANGHAI DEEP IND INSPECTION TECH CO LTD
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