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Three-dimensional reconstruction point cloud error compensation method and system based on stereoscopic vision

A technology of stereo vision and 3D reconstruction, applied in the fields of 3D vision, non-contact measurement and reverse engineering, can solve the problems of affecting the reconstruction accuracy, large point cloud model, existing errors, etc., to achieve good fitting effect, strong fitting ability, The effect of error prediction accuracy

Active Publication Date: 2021-06-18
SHANDONG UNIV
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Problems solved by technology

[0003] The inventors found that the accuracy of stereo vision and stereo vision structured light 3D reconstruction technology is closely related to the accuracy of camera calibration and system calibration, but most of the current calibration methods use parameter estimation and iterative optimization methods to calculate the calibration results, and there are inevitably errors ; In addition, since the calibration results will be used for image correction and projection parameter calculation in the subsequent reconstruction process, the calibration error will be transmitted in these processes, and various errors will be coupled together, which will jointly affect the reconstruction accuracy and lead to reconstruction. There is a large error in the point cloud model of

Method used

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  • Three-dimensional reconstruction point cloud error compensation method and system based on stereoscopic vision
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  • Three-dimensional reconstruction point cloud error compensation method and system based on stereoscopic vision

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Embodiment 1

[0043] Such as figure 1 As shown, this embodiment discloses a point cloud error compensation method for three-dimensional reconstruction based on stereo vision, including:

[0044] Step 1: Camera and system calibration. The camera and system are calibrated by high-precision checkerboard and Zhang's calibration method, and the external parameters of the space between the cameras and the internal parameters of the two cameras are obtained.

[0045] Step 2: Isometric multi-position checkerboard point cloud reconstruction. First, establish a two-dimensional checkerboard coordinate system and mark the inner corners of the checkerboard; use a stereo vision camera to simultaneously collect calibration board pictures, and use stereo vision technology to reconstruct the 3D point cloud coordinates of the checkerboard inner corners at this position; use a high-precision mobile module Drive the checkerboard image to move k times at equal intervals, and use the external parameters betwee...

Embodiment 2

[0086] The purpose of this embodiment is to provide a computing device, including a memory, a processor, and a computer program stored on the memory and operable on the processor. When the processor executes the program, the steps of the above method are implemented, including:

Embodiment 3

[0088] The purpose of this embodiment is to provide a computer-readable storage medium.

[0089] A computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the above-mentioned method are executed.

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Abstract

The invention provides a three-dimensional reconstruction point cloud error compensation method and system based on stereoscopic vision. The method comprises the following steps: obtaining pictures of a calibration plate shot from a plurality of positions, and reconstructing three-dimensional point cloud data based on the pictures; solving an actual coordinate point set based on the reconstructed three-dimensional point cloud data, taking a difference value between the actual coordinate point set and the solved theoretical point set as a reconstruction error of the point cloud, and establishing an error model; and when three-dimensional scanning reconstruction is carried out on an actual object, carrying out error compensation on point cloud data obtained by scanning by using the error model, and obtaining compensated point cloud coordinates. According to the point cloud compensation method provided by the invention, the final result three-dimensional point cloud of three-dimensional reconstruction is calibrated, the error mapping model is obtained, and the precision of three-dimensional reconstruction is improved through error prediction and compensation.

Description

technical field [0001] The disclosure belongs to the technical fields of three-dimensional vision, non-contact measurement and reverse engineering, and in particular relates to a point cloud error compensation method and system for three-dimensional reconstruction based on stereo vision. Background technique [0002] Stereo vision technology relies on a pair of cameras or multiple pairs of cameras to estimate the three-dimensional coordinate information of the target object from the two-dimensional image information by using the principle of triangulation. The stereo vision structured light system adds structured light projection equipment on the basis of stereo vision, by projecting patterns such as stripes and speckles onto the target object, thereby increasing the texture and improving the matching accuracy, and can obtain higher precision and higher accuracy. Three-dimensional information of density. In recent years, 3D reconstruction technology has been used in various...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T7/55G06N3/04G06N3/08
CPCG06T7/85G06T7/55G06N3/04G06N3/084G06T2207/10028G06T2207/20081G06T2207/20084G06T2207/30208
Inventor 胡天亮刘忠强段岳飞
Owner SHANDONG UNIV
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