A method of underwater point cloud acquisition based on binocular camera
A binocular camera and acquisition method technology, applied in the field of underwater point cloud acquisition based on binocular cameras, can solve the problems of large brightness differences and low image imaging contrast, and achieve low cost, accurate data, and point cloud reliability high effect
Active Publication Date: 2022-03-15
NORTHWESTERN POLYTECHNICAL UNIV
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The invention can use the binocular camera to directly obtain the point cloud information of the shot scene, and use the stereo matching algorithm to solve the problems of low imaging contrast and large brightness difference of the underwater binocular system, and has strong robustness and better high precision
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[0034] The present invention will be further described below in conjunction with the accompanying drawings and embodiments, and the present invention includes but not limited to the following embodiments.
[0035] Such as figure 1 As shown, the present invention provides an underwater point cloud acquisition method based on a binocular camera. Its specific implementation steps are as follows:
[0036] 1. Calibrate the underwater binocular camera and perform image correction
[0037] Take multiple sets of calibration pictures underwater, and use Zhang's calibration method to calibrate the binocular camera. In the process of taking pictures, try to make the checkerboard account for more than 30% of the left and right images, and keep the inclination angle between the calibration board and the camera within 30 degrees during shooting. In addition, the calibration picture should contain the entire Calibration board, the camera field of view contains all the corner points on the...
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The invention provides an underwater point cloud acquisition method based on a binocular camera. First, the underwater binocular camera is calibrated, and the undistorted image is obtained by stereo correction according to the calibration parameters; then, a stereo matching algorithm based on multi-feature fusion is designed to calculate the disparity map of the undistorted image; finally, the two-dimensional coordinate system is transformed according to the disparity principle Each pixel in the image is mapped to the three-dimensional space to obtain the initial point cloud data, and then down-sampling and outlier detection are performed on the initial point cloud data to obtain the final three-dimensional point cloud data of the underwater scene. The present invention can use the underwater binocular camera to directly obtain the point cloud information of the scene being photographed, and use the proposed stereo matching algorithm to solve the problem of point cloud acquisition failure of the underwater binocular system when the image imaging contrast is low and the brightness difference is large , with strong robustness and higher precision.
Description
technical field [0001] The invention belongs to the technical field of underwater vehicle vision processing, and in particular relates to an underwater point cloud acquisition method based on a binocular camera. Background technique [0002] A point cloud is a collection of multiple points in a certain coordinate system. Point cloud data can be used for 3D reconstruction. High-precision 3D point cloud data can be fitted to generate surfaces through algorithms. When used for 3D modeling, the details are finer and the modeling speed is faster; point cloud data can also be used for surveying and mapping. By splicing the point clouds of multiple scenes, the observer can get a range of topography; the point cloud data can also be used for target positioning. By comparing the obtained target point cloud with the 3D model of the target, it can quickly and accurately Get the pose information of the target. [0003] Traditional point clouds can be acquired by lidar, depth cameras a...
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IPC IPC(8): G06T7/33G06T7/13G06T7/80
CPCG06T7/33G06T7/13G06T7/80G06T2207/10028
Inventor 高剑封磊梁晓敏何耀祯黄冠边琛益白红丽
Owner NORTHWESTERN POLYTECHNICAL UNIV