All-weather active panoramic perception device and 3D panoramic modeling method

Abstract

The invention discloses an all-weather active type panoramic sensing device which comprises a mobile object laser light source, a multi-element output all-around visual sensor and a micro processor, wherein a mirror surface with double curved surfaces and two camera units are arranged in the multi-element output all-around visual sensor; a polarization splitting prism is arranged on a refraction and reflection light path of the mirror surface with double curved surfaces is used for splitting the refraction and reflection light of the mirror surface with double curved surfaces into light containing a certain polarized component and light not containing a certain polarized component; the two camera units are respectively positioned on reflection and refraction light paths of the polarization splitting prism, and are used for respectively acquiring a first panoramic video image containing polarized light information and a second panoramic video image containing light intensity information; the micro processor is used for fusing point cloud geometrical information in the first panoramic video image with the color information in the second panoramic video image, and constructing a panoramic 3D model. The invention further discloses a 3D panoramic modeling approach adopting the all-weather active type panoramic sensing device.

Description

technical field [0001] The invention relates to the application of laser light source, polarization imaging, omnidirectional visual sensor and computer vision technology in stereoscopic vision measurement and 3D rendering, in particular to an all-weather active panoramic perception device and a 3D panoramic modeling method using the device. Background technique [0002] Three-dimensional reconstruction technology includes three-dimensional measurement and three-dimensional reconstruction. It is an emerging application technology with great development potential and practical value. It can be widely used in industrial inspection, geographical survey, medical plastic surgery, orthopedic orthopedics, cultural relics reproduction, and criminal investigation. Forensics, security identification, robot vision, rapid prototyping of molds, gifts, virtual reality, animated films, games and many other application fields. Aiming at the reconstruction of 3D models with high-precision geo...

AI Technical Summary

Problems solved by technology

[0010] In order to overcome the disadvantages of the existing active three-dimensional panoramic vision measurement devices that are easily disturbed by ambient light and difficult to make a correct understanding of some essential characteristics of the measurement target in the image, considering that the laser polarization imaging technology can be used in harsh environments The long-distance image acquisition operation has absolute advantages in suppressing background noise, improving the detection distance, and obtaining detailed features; Camera imaging technology obtains the color information of three-dimensional points in space, and fuses the results of these two technologies to finally obtain the light intensity distribution data of the panoramic three-dimensional space, so as to realize the rapid measurement of the environment and the panoramic three-dimensional modeling

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