Scale factor determination method in monocular vision reconstruction based on dot structured optical ranging

Abstract

The invention provides a scale factor determination method in monocular vision reconstruction based on dot structured light ranging. The scale factor determination method comprises the steps of positioning a center of a light spot centroid, fitting space straight lines, carrying out RANSAC rejection, calculating three-dimensional space point coordinates of the light spot and calculating a scale factor. Aiming at the fact that most of the traditional monocular vision three-dimensional reconstruction methods based on image sequences can only achieve three-dimensional reconstruction at a projective scale or affine scale, the invention provides the Euclidean three-dimensional reconstruction method utilizing dot structured light to achieve monocular vision in an assisted mode, so that the scale of a three-dimensional scene reconstructed by utilizing the image sequences is consistent with that of a real world scene. The scale factor determination method has the technical characteristics of: (1) achieving Euclidean three-dimensional reconstruction by introducing structured light active vision into monocular reconstruction, (2) positioning the light spot by using a centroid method, (3) adding an RANSAC rejecting mechanism into laser ray equation fitting, (4) positioning a spatial point of the light spot in back-projection optimization, (5) and being free of restrictions in Euclidean reconstruction by adopting various kinds of methods in monocular reconstruction.

Description

technical field [0001] The invention belongs to the field of computer vision and relates to a method for realizing Euclidean three-dimensional reconstruction based on image sequence by using point structured light. Background technique [0002] Vision is the most important means of human perception, about 80% of the external information is received by people through the eyes. It is precisely because of the importance of vision to human beings that with the rapid development of digital computers, it has become a very attractive research topic to make computers have vision and be able to process visual information. In this way, it leads to the emergence and development of the subject of computer vision. [0003] A very important part of computer vision research is to analyze and process the obtained dynamic image sequence to obtain useful information. Dynamic images are aimed at moving objects or scenes, they are not only a function of spatial position, but also change with ...

AI Technical Summary

Problems solved by technology

However, most of the traditional monocular vision 3D reconstruction methods based on image sequences can only achieve 3D reconstruction at the projective scale or affine scale, that is, the reconstructed result differs from the scene scale of the real world by a scale factor, which limits its application in the real world. application in reality

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