Three-dimensional reconstruction method for binocular stereo vision

Abstract

The invention provides a three-dimensional reconstruction method for binocular stereo vision. The method comprises the steps of performing image pair collection: obtaining images of a calibration plate and an object; performing camera calibration: performing calibration on a camera based on a Zhengyou Zhang calibration method to obtain initial internal and external parameters of the camera; performing stereo rectification: performing rectification on a distortion parameter through epipolar constraint to obtain a rectified image pair; performing image processing: obtaining a region of interest,and balancing brightness difference between left and right images, thereby searching for matching points; performing stereo matching: implementing a multi-grid intensive stereo matching algorithm toobtain a continuous smooth disparity map; and performing point cloud rebuilding and model rebuilding: obtaining a point cloud chart of the object, performing point cloud optimization, and obtaining acomplete object model through triangulation of a greedy algorithm. The smooth model with no obvious difference with the real object can be obtained; and the method can be used for three-dimensional reconstruction of multiple scenes.

Description

technical field [0001] The invention relates to a three-dimensional reconstruction method for binocular stereo vision, belongs to the field of image processing and machine vision, relates to halcon software, and specifically relates to three-dimensional reconstruction of space scenes. Background technique [0002] As an important branch of computer vision, 3D reconstruction technology plays an important role in artificial intelligence, virtual reality, non-contact non-destructive testing and so on. The methods for obtaining the three-dimensional data of the surface of the object include: 1. Reconstruction by modeling software. This method can construct the fine structure of the object, but these software operations are complex, the degree of automation is low, the modeling cycle is long, and a large amount of manpower and material resources are required, and the sense of reality is not high when reconstructing irregular objects; 2. Using laser equipment, depth Scanner etc. ...

AI Technical Summary

Problems solved by technology

This method can construct the fine structure of the object, but these software operations are complex, the degree of automation is low, the modeling cycle is long, and a large amount of manpower and material resources are required, and the sense of reality is not high when reconstructing irregular objects; 2. Using laser equipment, depth 3D reconstruction by scanner etc.

This method can obtain relatively accurate 3D data, and is simple and convenient, and the modeling cycle is short, but its equipment is expensive and inconvenient to carry; 3. Using video or images for 3D reconstruction

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