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Surface point cloud reconstruction method based on binocular stereo vision

A binocular stereo vision and surface point technology, applied in neural learning methods, image data processing, instruments, etc., can solve the problems of low reconstruction accuracy, slow speed, poor transferability, etc., and achieve accurate matching effect and strong robustness , The effect of disparity map smoothing

Pending Publication Date: 2021-09-21
东莞市中科三尾鱼智能科技有限公司 +1
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Problems solved by technology

[0008] The present invention provides a surface point cloud reconstruction method based on binocular stereo vision. The method solves the problem of low reconstruction accuracy, slow speed and the like through processes such as stereo correction, image preprocessing, background removal of the region of interest, stereo matching, and point cloud reconstruction. Poor transferability and other issues

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  • Surface point cloud reconstruction method based on binocular stereo vision
  • Surface point cloud reconstruction method based on binocular stereo vision
  • Surface point cloud reconstruction method based on binocular stereo vision

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Embodiment Construction

[0066] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0067] refer to figure 1 , a surface point cloud reconstruction method based on binocular stereo vision, comprising the following steps:

[0068] Step 1. Stereo correction is performed on the image taken by the binocular camera, so that the left and right images are located at the same pole with the same point name;

[0069] Step 2. Preprocessing the corrected image, the preprocessing includes weighted median filtering with bilateral filtering ...

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Abstract

The invention belongs to the field of digital image processing, and particularly relates to a surface point cloud reconstruction method based on binocular stereoscopic vision. The method includes the following steps: step 1, performing stereo correction on images shot by a binocular camera to enable left and right images to be in the same pole with roll call; 2, carrying out the preprocessing of the corrected image; 3, carrying out complex background removal on the region of interest through a minimum cut-maximum flow image segmentation algorithm; 4, recovering depth information through a convolutional neural network stereo matching algorithm to obtain a disparity map; and 5, reconstructing the surface point cloud according to the disparity map obtained in the step 4. According to the method, the problems of low reconstruction precision, slow speed, poor transferability and the like are solved through processes of stereo correction, image preprocessing, region-of-interest background removal, stereo matching, point cloud reconstruction and the like.

Description

technical field [0001] The invention belongs to the field of digital image processing, in particular to a surface point cloud reconstruction method based on binocular stereo vision. Background technique [0002] In recent years, with the gradual improvement of the automation level of the manufacturing industry and the continuous upgrading of the technological transformation of enterprises, machine vision technology has been more and more used in industrial production, and binocular stereo vision technology is a passive, non-active The contact measurement method is favored by the market for its wide use conditions, fast measurement speed and reasonable price, and it is in the ascendant. [0003] The surface point cloud reconstruction technology based on binocular stereo vision can be applied to parts identification and positioning, autonomous navigation of drones, satellite remote sensing mapping, 3D model reconstruction and other fields. It is a research hotspot and difficul...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T5/40G06T7/11G06T5/00G06N3/04G06N3/08
CPCG06T5/40G06T7/11G06N3/08G06T2207/20028G06T2207/20032G06T2207/20104G06N3/045G06T5/73Y02T10/40
Inventor 李岩李国文吴孟男
Owner 东莞市中科三尾鱼智能科技有限公司
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