Three-dimension constructing method for the visual large-field-of-view of night robot based on infrared monocular
A technology of robot vision and construction method, which is applied in the field of three-dimensional construction of large field of view in nighttime robot vision, can solve the problem that an image cannot be completely reconstructed into a three-dimensional model, and achieve the effect of expanding the scope of the scene
Inactive Publication Date: 2017-07-18
DONGHUA UNIV
View PDF7 Cites 28 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0007] In recent years, the research on single image modeling has become a hot topic, but a single image cannot completely reconstruct the corresponding 3D model, so many researchers propose to use the known geometric information in the image for 3D reconstruction
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0028] In order to make the present invention more comprehensible, preferred embodiments are described in detail below with accompanying drawings.
[0029] Such as figure 1 As shown, the present invention uses the phase correlation method to estimate the displacement of the image to be stitched and determine the overlapping area. Then, the SIFT feature operator is used to extract features in the overlapping area, and the global feature matching is converted into local overlapping area matching, which greatly reduces the feature extraction and matching time, and improves the utilization of matching points. Using the image displacement to generate a weighted map, the image is synthesized in a multi-scale space, which can eliminate blurring and stitching gaps, thereby achieving seamless stitching. For multiple infrared image stitching, the transformation matrix from each infrared image to the reference image is optimized and adjusted to eliminate the cumulative error caused by t...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention relates to a three-dimension constructing method for the visual large-field-of-view of night robot based on infrared monocular. The method comprises the two steps of: performing large-field-of-view splicing of the infrared images based on the point feature operators and the three-dimensional reconstruction of the infrared large-field-of-view image. Firstly, a set of infrared images acquired by horizontal scanning is projected into a cylindrical space coordinate system; the SIFT feature is extracted in the overlapping area of the adjacent images; the homography transformation matrix is estimated according to the feature point matching and optimizing algorithm to register the alignment, and then the multi-resolution weighting algorithm is used to fuse for a panoramic spliced image. Then, the super-pixel segmentation and multi-scale feature extraction of the infrared large-field-of-view image are carried out. The segmented images and the feature information are inputted into the trained panel parameter Markov model for panel parameter estimation. Finally, the deep estimation is performed to the infrared large-field-of-view image and a three-dimensional model of the infrared large-field-of-view image is constructed with the result that the three-dimension image of the infrared large-field-of-view is obtained.
Description
technical field [0001] The invention relates to a method for three-dimensionally constructing a large visual field of a night robot based on monocular infrared, and belongs to the field of night vision infrared image processing. Background technique [0002] Due to the limitations of the resolution of the infrared imaging system and other factors, infrared imaging can only obtain image information of a narrow scene in front. Usually, the horizontal field of view of infrared images is within 40°, and there is a large blind area, which is difficult to meet the needs of large-scale observation occasions. Large field of view panoramic visual reconstruction can make up for this shortcoming. Panoramic reconstruction technology uses image stitching technology to splice space scene images with 180° or 360° azimuth angles to obtain panoramic images. [0003] The function of infrared image stitching is to ensure that two or more infrared images are stitched into one infrared large f...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/11G06T7/55G06T3/40G06K9/46
CPCG06T3/4038G06T2207/10048G06T2207/20081G06V10/462
Inventor 孙韶媛黄珍叶国林高凯珺姚广顺
Owner DONGHUA UNIV