Underwater 3D reconstruction device and method based on multilayer refractive model of light field

A 3D reconstruction and model technology, applied in measuring devices, water resources assessment, open-air water source survey, etc., achieves the effects of convenient operation, compact device layout, and high point cloud reconstruction accuracy

Inactive Publication Date: 2018-12-21
SHANGHAI UNIV
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  • Application Information

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Problems solved by technology

The whole device adopts a 4000-meter u

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  • Underwater 3D reconstruction device and method based on multilayer refractive model of light field
  • Underwater 3D reconstruction device and method based on multilayer refractive model of light field
  • Underwater 3D reconstruction device and method based on multilayer refractive model of light field

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Embodiment 1

[0044] Embodiment one: see Figure 1 ~ Figure 4 , the underwater three-dimensional reconstruction device based on the light field multilayer refraction model, comprising two high-speed camera packaging chambers (1, 2) and a laser scanning system and computing unit packaging chamber (3), characterized in that the two high-speed The camera packaging compartments (1, 2) are symmetrically installed at both ends of a high-pressure resistant connecting pipe (4), and the laser scanning system and the computing unit packaging compartment (3) are installed in the middle; the laser scanning system includes a metal pendulum mirror (6) and A laser (5), when swinging, the line laser emitted by the laser (5) can be scanned in the field of view of the camera; since there is no watertight connector that can meet the USB3.0 transmission rate underwater, the internal connection method can ensure the transmission Speed, and reduce the number of connectors, improve system stability.

Embodiment 2

[0045] Embodiment two: see Figure 5 ~ Figure 7 , the underwater three-dimensional reconstruction method based on the light field multi-layer refraction model, using the above-mentioned device for operation, is characterized in that the operation steps are as follows:

[0046] Step a: Carry out single-camera calibration on the left camera and the right camera respectively in the air, and obtain the internal parameter camera matrix cameraMatrixL, cameraMatrixR and distortion distortionL, distortionR of the single camera;

[0047] Step b: Use the "Calibration Method for Underwater Stereo Vision System Based on Multilayer Refraction Model" in Chinese Patent CN201710702222.1 to calibrate the camera in the pool to obtain the refraction parameters (n L , d L , miu L ), (n R , d R , miu R ) and the extra-stereo parameter t l_r , R l_r ;

[0048] Step c: Take a group of clear pictures with targets in the measurement sea area, and measure the refractive index μ of the sea water...

Embodiment 3

[0051] Embodiment three: this embodiment is basically the same as embodiment two, and the special features are as follows:

[0052] The camera calibration in the step b comprises the following steps:

[0053] Step (b-1): Photograph the checkerboard calibration board in the pool. Randomly select 8 positions between 1m and 2m to take pictures. The pictures are roughly in the middle of the field of view of the two cameras.

[0054] Step (b-2): Use the Harris corner detection method to extract the corner points of the captured checkerboard picture, and use the pre-calibrated single-camera calibration parameters cameraMatrixL, cameraMatrixR, distortionL, distortionR to remove distortion from the corner coordinates;

[0055] Step (b-3): Select the initial value of the parameters to be calibrated, take the initial value of the normal n=[001] and the initial value of the refractive index miu=[11.51.33], iteratively calculate the refraction parameters of the two cameras (n L , d L ,...

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Abstract

The invention proposes an underwater 3D reconstruction device and method based on the multilayer refractive model of light field, belonging to the research field of computer vision, and the typical application is the high-precision 3D reconstruction in underwater. This device adopts multilayer refractive model of light field to calibrate binocular stereo vision. The center point correspondence algorithm of laser stripe adopts the underwater laser stripe matching algorithm based on the multilayer refractive model of light field and the singular value decomposition method based on the corresponding points under the multilayer refractive model of light field is adopted to calculate the 3D points. The whole system device is composed of two high-speed camera packaging storehouses and laser scanning computing unit packaging storehouses. The packaging storehouse adopts high-voltage resistance design. The high-speed camera packaging storehouse and the laser scanning system and the computing unit packaging storehouse are connected by high-voltage resistance tubes. The high-pressure resistant tube contains a high speed USB3.0 cables connected to the camera and the computing unit. The high speed camera package storehouse is symmetrically distributed at both ends of the device, and the laser scanning computing unit package storehouse is in the middle of the device. The invention can be applied to the high-precision three-dimensional reconstruction in the deep-water area, and the deepest depth can reach 4000 meters below water.

Description

technical field [0001] The invention belongs to the field of underwater computer vision research, and relates to an underwater three-dimensional reconstruction device and method based on a multi-layer refraction model of a light field, which can realize three-dimensional high-precision reconstruction measurement of four kilometers underwater. Background technique [0002] Underwater 3D reconstruction technology is an important technical means for exploring deep-water lakes and oceans. It can be used for underwater terrain scanning detection, seabed archaeology, and body size data acquisition of underwater slow-moving organisms. At present, sonar is mainly used as the main detection technology, but this method has low precision and cannot meet the needs of accurate underwater detection. [0003] In their paper "A laser line scanning technology based on binocular stereo vision [J]. Mechanical Design and Manufacturing, 2011(8): 200-202.", Lin Junyi and others proposed a method ...

Claims

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Application Information

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IPC IPC(8): G01C13/00
CPCG01C13/00Y02A90/30
Inventor 张旭李锦波何平平屠大维
Owner SHANGHAI UNIV
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