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Scale Factor Determination Method for Monocular Vision Reconstruction Based on Point Structured Light Ranging

A technology of scale factor and point structured light, which is applied in the field of computer vision and can solve problems such as limited applications

Active Publication Date: 2018-05-25
BEIJING UNIV OF TECH
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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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  • Scale Factor Determination Method for Monocular Vision Reconstruction Based on Point Structured Light Ranging
  • Scale Factor Determination Method for Monocular Vision Reconstruction Based on Point Structured Light Ranging
  • Scale Factor Determination Method for Monocular Vision Reconstruction Based on Point Structured Light Ranging

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Embodiment Construction

[0025] The present invention will be described in further detail in conjunction with the accompanying drawings.

[0026] The present invention specifically includes the following steps.

[0027] (1) Center positioning of spot light spot

[0028] The image is preprocessed through various filtering or threshold selection methods, and then the centroid of the image spot is located. After processing the entire image pixel, according to the cumulative value of the final centroid parameter group of each spot, the row and column coordinates of the centroid are calculated according to the following first-order moment centroid calculation formula:

[0029]

[0030] In the above formula, I(x, y) represents the gray value of the input image pixel, x, y is the row and column coordinates corresponding to the pixel, and X c ,Y c are the row and column coordinates of the spot centroid, respectively.

[0031] (2) Laser ray equation fitting with RANSAC elimination mechanism

[0032] RANS...

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Abstract

A method for determining the scale factor in monocular vision reconstruction based on point structured light ranging, the method includes spot centroid center positioning, spatial straight line fitting, RANSAC exclusion, calculating the three-dimensional space point coordinates of the spot, and calculating the scale factor. Aiming at the traditional three-dimensional reconstruction method of monocular vision based on image sequence, most of them can only realize three-dimensional reconstruction in projective scale or affine scale. , so that the scale of the reconstructed 3D scene using the image sequence is consistent with that of the real world scene. The technical features of the present invention are as follows: (1) monocular reconstruction introduces structured light active vision to realize Euclidean three-dimensional reconstruction, (2) center-of-mass method spot positioning, (3) laser ray equation fitting with RANSAC elimination mechanism, (4) reflection Projection-optimized point positioning of spot space, (5) Euclidean reconstruction of various methods of monocular reconstruction is not limited.

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 ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T17/00G06T7/80
Inventor 李秀智秦宝岭贾松敏杨爱林
Owner BEIJING UNIV OF TECH
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