Monocular vision three-dimensional environment reconstruction method based on Harris-SIFT-BRIEF algorithm

Abstract

The invention protects a monocular vision three-dimensional environment reconstruction method based on Harris-SIFT-BRIEF algorithms; the method comprises the following steps: firstly, calibrating a camera, and solving camera internal and external parameters; then, obtaining video data, using a program to process the data, and thus obtaining an image sequence; combining the Harris algorithm, the SIFT algorithm, and the BRIEF algorithm to extract image characteristic points, and using an optical flow method to match the extracted characteristic points; then, aiming at the obtained plurality of matched point pair sets, combining the calibrated internal and external parameters, using a triangle measuring principle to calculate three dimensional coordinates, obtaining reconstruction scales according to the camera height from the ground or other sensors, thus reconstructing environment three dimensional information, and using a global bundle adjustment and local bundle adjustment combined method to optimize the information; finally, sending reconstruction three dimensional point cloud barrier information to a decision system, and allowing the decision system to decide the steering wheel to turn and control the accelerator. The method can effectively extract image information, thus providing more accurate matching results.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional reconstruction of computer vision, in particular to a monocular vision three-dimensional environment reconstruction method based on Harris-SIFT-BRIEF algorithm. This method is mainly used for the 3D reconstruction of the environment in front of the smart car, and has broad application value. Background technique [0002] In recent years, breakthroughs have been made in the research and application of 3D reconstruction technology, but there are still huge challenges. At present, monocular vision is still used in many fields. Its purpose is to simulate the principle of the human eye visual system. A single camera is used to simulate the human eye to take two images of the target object from different angles, or even from different time and space, and then through a A series of processing means to reconstruct the 3D model structure of the object according to the triangulation principle of ...

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Problems solved by technology

However, this method has poor rotation invariance and is easily affected by noise.

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