Three-dimensional color reconstruction system and method based on PMD (photonic mixer device) cameras and photographing head

Abstract

The invention discloses a three-dimensional color reconstruction system and method based on a PMD camera and a photographing head. The system comprises an independent calibration module, an integrated calibration module and a three-dimensional reconstruction module, wherein the independent calibration module is used for calibrating the PMD camera and the photographing head to obtain inner parameters, outer parameters and distortion parameters of the PMD camera and the photographing head; the integrated calibration module is used for solving corrected images corresponding to images collected by the PMD camera and the photographing head respectively, and a relative rotation torque and a translation vector between a coordinate system of the PMD camera and a coordinate system of the photographing head according to the inner parameters, the outer parameters and the distortion parameters; the three-dimensional reconstruction module is used for selecting pixel points at four edges in the corrected images, solving corresponding points on the photographing head according to the relative rotation torque and the translation vector to obtain the corresponding image edges of the images collected by the photographing head, cutting the images and storing the cut images as new images. According to the three-dimensional color reconstruction system and method, the three-dimensional color reconstruction is implemented on the basis of the PMD camera and the photographing head.

Description

technical field [0001] The invention belongs to the technical field of automatic detection, and in particular relates to a three-dimensional reconstruction system and method for fusing position information of a PMD camera (Photonic Mixer Device, PMD) and color information of a color camera. Background technique [0002] Three-dimensional reconstruction refers to the establishment of mathematical models suitable for computer representation and processing of objects in three-dimensional space. key technologies. In machine vision, 3D reconstruction refers to the process of reconstructing 3D information based on single-view or multi-view images. Since the information of a single video is incomplete, 3D reconstruction needs to use empirical knowledge, while multi-view 3D reconstruction (similar to human double Target positioning) is relatively easy. The method is to calibrate the camera first, that is, calculate the relationship between the camera's image coordinate system and t...

AI Technical Summary

Problems solved by technology

Therefore, the stereo vision system and method currently used in stereo vision have certain requirements for the distance from the target to the sensor, and image matching according to the complexity of the target is also a process that is prone to errors and time-consuming, and affects the reconstruction accuracy.

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