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Active omni-directional vision-based 3D (three-dimensional) environment duplication system and 3D omni-directional display drawing method

A panoramic display and panoramic vision technology, applied in surveying and navigation, photogrammetry/video metrology, measuring devices, etc., can solve the problems of increasing the sense of immersive experience, high consumption of computer resources, and poor practicability, etc. Achieve the effects of reducing computer resource consumption, good real-time performance, and strong practicability

Active Publication Date: 2015-02-25
ZHEJIANG UNIV OF TECH
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  • Abstract
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  • Claims
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AI Technical Summary

Problems solved by technology

[0005] In order to overcome the deficiencies of the existing passive panoramic stereo vision measurement devices, such as high computer resource consumption, poor real-time performance, poor practicability, and low robustness, the active three-dimensional stereo panoramic vision measurement device with full-color panoramic LED light source is vulnerable to environmental light The present invention provides an active panorama-based system that can reduce the consumption of computer resources, quickly complete the measurement, have good real-time performance, strong practicability, and high robustness by directly acquiring the positional geometric information and color information of three-dimensional points in space. The all-round 3D modeling system of the visual sensor adopts the rendering display mode that combines the object-centered 3D macroscopic vision and the human-centered 3D mesoscopic vision to increase the user's immersive experience

Method used

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  • Active omni-directional vision-based 3D (three-dimensional) environment duplication system and 3D omni-directional display drawing method
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  • Active omni-directional vision-based 3D (three-dimensional) environment duplication system and 3D omni-directional display drawing method

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Embodiment 1

[0064] refer to Figure 1-16 , a 3D environment replication system based on active panoramic vision and a 3D panoramic display rendering method, including an omnidirectional visual sensor, a moving body laser light source, and a microprocessor for performing 3D panoramic reconstruction and 3D panoramic rendering output on omnidirectional images .

[0065] The center of the omnidirectional vision sensor and the center of the moving body laser light source are arranged on the same axis line. as attached figure 1 As shown, the omnidirectional visual sensor includes a hyperboloid mirror 2, an upper cover 1, a transparent semicircular cover 3, a lower fixing seat 4, a camera unit fixing seat 5, a camera unit 6, a connecting unit 7, and an upper cover 8. The hyperboloid mirror surface 2 is fixed on the upper cover 1, and the connecting unit 7 connects the lower fixing base 4 and the transparent semicircular cover 3 into one body, and the transparent semicircular cover 3, the upper...

Embodiment 2

[0158] The other structure and working process of this embodiment are the same as those of Embodiment 1, the difference is: to meet the needs of different reconstruction scenarios, replace the hardware module of the laser light source of the moving body, that is, change the attached Figure 4 The projection angle θ of the green laser line in a and the projection angle θ of the blue laser line c , to change the vertical scanning range.

Embodiment 3

[0160] The rest are the same as in Embodiment 1. According to the requirements of drawing and displaying different 3D scenes, the human-centered panoramic perspective view cycle display drawing module is used to continuously change the viewing angle in the 3D reconstruction environment according to the observer. From the perspective of ergonomics Determine the field of view to draw a 3D perspective, the core of which is to continuously and slowly change the azimuth angle β to generate a display data matrix under the azimuth angle β; the key algorithm is as follows:

[0161] STEP1: Determine the initial azimuth angle β 1 , read the minimum distance h min and the maximum distance h max data;

[0162] STEP2: β=β 1 , to determine the number of display loops N, n=0;

[0163] STEP3: h=h min ;

[0164] STEP4: Read the data from the initial azimuth β of the distance value h to β+300, if β+300≥1000, then β+300=β+300-1000; use these values ​​as a new row of data in the matrix, h= h...

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Abstract

The invention discloses an active omni-directional vision-based 3D (three-dimensional) environment duplication system. The system comprises an omni-directional vision sensor, a mobile body laser source and a microprocessor which is used for carrying out 3D omni-directional reconstruction and 3D omni-directional drawing output on an omni-directional image, wherein the microprocessor comprises a calibration part, a 3D reconstruction part and a 3D omni-directional display drawing part; the 3D omni-directional display drawing part mainly comprises an omni-directional drawing module by taking an object as a center, a perspective display drawing module by taking a human body as a center, an omni-directional perspective circulating display drawing module, a stereo perspective display drawing module, an omni-directional space diagram circulating display drawing module and a stereo perspective display drawing module for observing distance changes. The invention further discloses an active omni-directional vision-based 3D omni-directional display drawing method. According to the method, perfect combination of geometric accuracy and reality sense of 3D omni-directional model reconstruction, omni-directional 3D scene drawing display with immersive vision and reconstructing process automation can be realized.

Description

technical field [0001] The invention relates to the application of laser light source, omnidirectional visual sensor and computer vision technology in stereoscopic vision measurement and 3D rendering, in particular to a 3D environment replication system and 3D panoramic display rendering method based on active panoramic vision. Background technique [0002] 3D reconstruction technology includes 3D measurement and 3D reconstruction. It is an emerging application technology with great development potential and practical value. The reconstruction technology of 3D model mainly involves the following three aspects: 1) The accuracy of geometry ; 2) Realism; 3) Automation of the reconstruction process. The data required for the reconstruction of the 3D model mainly includes two aspects: the depth image data of the laser scanning and the image data collected by the image sensor. [0003] The current 3D laser scanner still has a lot of room for improvement, 1) such as precise hardwa...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C11/00
CPCG01C11/00
Inventor 汤一平周伟敏鲁少辉韩国栋吴挺陈麒韩旺明胡克钢王伟羊
Owner ZHEJIANG UNIV OF TECH
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