A 3D reconstruction method of pipeline inner wall based on monocular image sequence
An image sequence and three-dimensional reconstruction technology, which is applied in image data processing, 3D modeling, instruments, etc., can solve problems such as pipeline damage, leaks that are not easy to be found in time, and inconvenient maintenance, etc., to achieve simple implementation, fast three-dimensional reconstruction, and calculation Small amount of effect
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[0018] The invention is based on the monocular image sequence, obtains the pipeline inner wall image through the monocular image, and uses the triangulation principle to obtain the elevation of the pipeline inner wall on the basis of the pipeline inner wall image, so as to realize the three-dimensional reconstruction of the pipeline inner wall.
[0019] The three-dimensional reconstruction process of the inner wall of the pipeline is as follows:
[0020] (1) if figure 1 As shown, first determine the pipeline center coordinates C and C' of the monocular image D and the monocular image D' respectively;
[0021] (2) Starting from the pipeline center coordinates C and C' respectively, and the angle is θ, determine the straight line on the monocular images D and D', and the angle increases by 1 each time ° , up to 360 ° until;
[0022] (3) Merge the straight lines into a two-dimensional image to obtain pipeline inner wall images I and I' respectively;
[0023] (4) Calculate the...
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