Single-surface three-dimensional reconstruction method, device and system
A technology of three-dimensional reconstruction and front surface, applied in the field of computer vision, which can solve the problems of low efficiency and large amount of calculation.
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Embodiment 1
[0060] figure 1 Schematic diagram of the structure of the single-surface three-dimensional reconstruction system provided by the embodiment of the present invention, as shown in figure 1 As shown, it includes: a light-emitting end 10 , a camera end 20 and a single-surface three-dimensional reconstruction device 30 .
[0061] The system provided in this embodiment is used for three-dimensional reconstruction of the front surface of the target 40 with specular reflection.
[0062] Specifically, the light emitting end 10 uses natural light as the incident light R 1 Illuminating the front surface of the target, the incident light R 1 The reflected light R is obtained by reflection from the front surface 2 , reflected light R 2 Incident to the camera end 20. Such as figure 1 As shown, the incident light R 1 and the reflected light R 2 There is an included angle between them, so that the light emitting end 10 , the camera end 20 and the target 40 together form a triangulatio...
Embodiment 2
[0070] In the previous embodiment, there is no restriction on whether the light-emitting end 10 adopts a surface light source or a point light source. In this embodiment, in order to improve the reconstruction efficiency, the light-emitting end 10 adopts a surface light source to emit the incident light R 1 . Specifically, there are multiple pixels on the light source plane of the light emitting end 10, which are called second pixel points here to distinguish them from the first pixel points of the camera in the camera end 20. The second pixel points on the light source plane emit the incident Light R 1 , after being reflected by the front surface, the camera end 20 receives the reflected light R 2 .
[0071] For the convenience of calculation, here each incident light R 1 corresponds to a second pixel that emits the light, and each reflected light R 2 Corresponding to a first pixel point receiving the light. In order to reconstruct the front surface, we need to determine...
Embodiment 3
[0088] In order to clearly illustrate the aforementioned embodiments, the single-surface three-dimensional reconstruction device 30 mentioned, Figure 5 is a schematic structural diagram of a single-surface three-dimensional reconstruction device 30, such as Figure 5 As shown, the single-surface three-dimensional reconstruction device 30 includes: a normal vector calculation module 31 , a direction vector calculation module 32 , a spatial position calculation module 33 and a reconstruction module 34 .
[0089] The normal vector calculation module 31 is configured to calculate the normal vector corresponding to the reflected light according to the degree of polarization of the reflected light.
[0090] The direction vector calculation module 32 is used to determine the direction vector of the reflected light through the camera calibration performed in advance by the triangulation optical path, and calculate the incident light by using the direction vector of the reflected ligh...
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