A portable all-weather active panoramic vision sensor

Abstract

The invention discloses a portable all-weather active panoramic vision sensor. The portable all-weather active panoramic vision sensor comprises an all-directional vision sensor capable of fusing polarization imaging through which light intensity and polarized light information are output with a panoramic picture, a panoramic laser light source and a microprocessor for performing 3D panoramic reconstruction on an all-directional image; the center of the multi-source output all-directional vision sensor and the center of the panoramic laser light source are arranged on the same axis; the microprocessor comprises a calibration part and a 3D reconstruction part; the calibration part mainly comprises a multi-source output all-directional vision sensor calibration module and a joint calibration module; the 3D reconstruction part mainly comprises a panoramic laser light source emission angle position estimation module, a panorama plane laser information analysis module, a panorama plane point cloud geometry information computation module, a point cloud geometry information and color information fusion module, and a construction module for constructing a panoramic 3D model according to panoramic plane position information. According to the portable all-weather active panoramic vision sensor, functions of portable all-weather active panoramic perception and automated 3D panoramic modeling are realized.

Description

technical field [0001] The invention relates to the application of laser light source, polarization imaging, omnidirectional vision sensor and computer vision technology in stereoscopic vision measurement and 3D rendering, and in particular to a portable all-weather active panoramic vision sensor. 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 geometric information and realistic color infor...

AI Technical Summary

Problems solved by technology

[0010] In order to overcome the shortcomings of the existing active three-dimensional panoramic vision measurement device, such as bulky, inconvenient to carry, incomplete scanning, easy to be interfered by ambient light, difficult to make a correct understanding of some essential characteristics of the measurement target in the image, etc., the present invention It provides a way to directly obtain the position and geometric information of three-dimensional points in space through panoramic laser polarization imaging technology, obtain the color information of three-dimensional points in space through traditional panoramic camera imaging technology, and fuse the results of these two technologies to finally obtain a panoramic view The light intensity distribution data in three-dimensional space enables rapid measurement of the environment and panoramic three-dimensional modeling;

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