Handheld aircraft fuel tank rapid three-dimensional map reconstruction device and reconstruction method

Abstract

The invention discloses a handheld aircraft fuel tank rapid three-dimensional map reconstruction device and reconstruction method. The device comprises an industrial camera, an inertial navigation sensor, a hand-held grip, a battery, a micro industrial personal computer and a wireless module. The method comprises the following steps: extracting angular point features for a current frame of pictureshot by a monocular camera in a fuel tank; then, realizing feature tracking of a next frame by utilizing an optical flow method for extracted angular points of the current frame; then obtaining posetransformation between two adjacent frames; reconstructing an initial feature point three-dimensional map in a three-dimensional manner; selecting a frame meeting a certain condition as a key frame inthe three-dimensional reconstruction process of the whole fuel tank, performing local sparse bundling adjustment on the selected key frame, performing integrated filtering on the selected key frame and an absolute-scale pose measured by an inertia module, and performing rapid three-dimensional dense reconstruction on the interior of the whole fuel tank of an airplane. The device and the method have the advantages that the efficiency is high, the cost is low, the real-time performance is realized, and the high-precision dense three-dimensional reconstruction can be realized in a narrow airplane complete machine.

Description

technical field [0001] The invention relates to the scientific field of image information science, in particular to a fast three-dimensional map reconstruction device and reconstruction method of a hand-held aircraft fuel tank. Background technique [0002] With the development of intelligent manufacturing in the aviation field, the inspection methods for manufacturing quality in the manufacturing process are also more diversified and intelligent. As the oil-tight area of ​​the aircraft's overall fuel tank, it is a very strict part of the aircraft structure sealing. Its good sealing performance is an inevitable requirement to achieve the goal of "safety, economy, comfort and environmental protection". However, in the current model development, the leakage of the overall fuel tank has repeatedly occurred, resulting in the air-tightness test and oil-tightness test cycle during manufacture being much higher than that of similar competing models. It is convenient for personnel ...

AI Technical Summary

Problems solved by technology

Traditional camera pose estimation and 3D reconstruction extract the feature points and descriptors of images between adjacent frames, and then determine the displacement of the camera between two adjacent frames based on the feature points extracted by descriptor matching. However, due to the highly repetitive scenes inside the fuel tank , feature point tracking based on descriptors is prone to tracking errors, and only reconstructing the extracted feature points results in sparse reconstruction inside the fuel tank that cannot meet the needs of airtightness inspection. At the same time, there is scale uncertainty in monocular camera reconstruction, which cannot High-precision dense 3D reconstruction of the interior of the support box

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