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A method for solving 3D coordinates of spatial points based on mathematical model of stereo vision

A technology of three-dimensional coordinates and mathematical models, applied in 3D modeling, image data processing, image analysis, etc., can solve problems such as camera optical axis offset value is not taken into account, and achieve the effect of improving accuracy and solution accuracy

Active Publication Date: 2019-01-25
HEFEI UNIV OF TECH
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Problems solved by technology

The present invention is based on binocular stereo vision. In the current mathematical model of binocular stereo vision, only one effective focal length is considered for the left and right cameras, and the offset value of the camera optical axis in the image coordinate system is not considered.

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  • A method for solving 3D coordinates of spatial points based on mathematical model of stereo vision
  • A method for solving 3D coordinates of spatial points based on mathematical model of stereo vision
  • A method for solving 3D coordinates of spatial points based on mathematical model of stereo vision

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Embodiment Construction

[0050] Below, specific embodiments of the present application will be described in detail in conjunction with the accompanying drawings, but it is not intended as a limitation of the present application.

[0051] It should be understood that various modifications may be made to the embodiments disclosed herein. Accordingly, the above description should not be viewed as limiting, but only as exemplifications of embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the disclosure.

[0052] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and, together with the general description of the disclosure given above and the detailed description of the embodiments given below, serve to explain the embodiments of the disclosure. principle.

[0053] These and other characteristics of the present application will become apparent from the following des...

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Abstract

The invention provides a high-precision solution method for three-dimensional coordinates of a space point in a world coordinate system considering multiple factors in an internal reference based on astereo vision mathematical model. The invention is based on a binocular stereo vision system, after calibrating the initial parameters of left and right cameras in binocular stereo vision system, thecamera parameters are optimized iteratively by the principle of image reprojection error minimization. The internal parameters of the left camera and the right camera are unequal focal length, and the offset of the camera optical axis in the left and right camera coordinates are obtained. Taking photos of the same target point, the precision of recovering the 3D information of the target point isimproved by optimizing the parameters of the left and right cameras. The relationship between the left image coordinate system and the world coordinate system is established, the relationship betweenthe right camera coordinate system and the world coordinate system is established, and the relationship between the right image coordinate system and the right camera coordinate system is established. Through the relationship among the left image coordinate system, the right image coordinate system, the world coordinate system and the right camera coordinate system, the high-precision solution ofthe three-dimensional coordinates of the space points is realized.

Description

technical field [0001] The invention relates to the technical field of three-dimensional reconstruction of photogrammetry, in particular to a method for solving three-dimensional coordinates of spatial points based on a stereo vision mathematical model. Background technique [0002] Photogrammetry is widely used in artificial intelligence, vision measurement and robotics. Vision measurement binocular 3D reconstruction includes image acquisition, camera calibration, image correction, image feature extraction and matching, 3D point calculation and other processes. Camera calibration has a typical checkerboard calibration method between traditional calibration and self-calibration; for nonlinear distortion, correction parameters that reflect the influence of distortion can be introduced, and then the image can be corrected by solving the correction coefficient based on control points or other methods; features Extraction and matching Typical extraction and matching algorithms ...

Claims

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Application Information

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IPC IPC(8): G06T17/00G06T7/80
CPCG06T7/85G06T17/00
Inventor 张进柴志文邓华夏余寰马孟超钟翔
Owner HEFEI UNIV OF TECH
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