High-precision point cloud color reconstruction method based on low-resolution image

Abstract

The invention discloses a high-precision point cloud color reconstruction method based on a low-resolution image, and the method comprises the steps: firstly reconstructing a high-precision color-free point cloud P, then shooting a high-resolution gray image and a low-resolution color image, detecting feature points, judging matching point pairs, and obtaining a coordinate transformation matrix H according to an optimized matching point pair set; then coordinate transformation is carried out on the low-resolution color image Icolor, and a registered high-resolution color image is obtained in a filling area of the high-resolution color image Ireg by using a bilinear interpolation method; fusing the high-resolution color image and the high-resolution grayscale image based on bilateral filtering and weighted least square filtering to obtain a fused high-resolution color image; and finally, assigning the RGB channels of the three-dimensional points in the high-precision color-free point cloud P to obtain a real color point cloud P *. According to the method, richer texture detail information of the high-precision key part is reserved, and the measurement precision and the measurement speed are improved.

Description

[0001] Technology neighborhood [0002] The invention belongs to the technical field of three-dimensional reconstruction, and more particularly relates to a high-precision point cloud color reconstruction method based on low-resolution images. Background technique [0003] In the technical fields of aviation, aerospace, and deep-sea exploration, the structures of key components are becoming more and more sophisticated. For precision key components, high-precision measurement is required during the manufacturing process. The measuring instrument needs to reconstruct the surface texture of the object to verify whether it meets the design requirements. This work puts forward higher requirements for the accuracy and effect of the measuring instrument. [0004] The traditional binocular structured light system technology is relatively mature and can achieve 3D high-precision point cloud reconstruction. In some application scenarios, it is necessary to restore the mechanism, color...

AI Technical Summary

Problems solved by technology

On the one hand, considering that the current high-resolution color cameras are expensive, the introduction of color cameras and color raster projectors greatly increases the construction cost of the system

On the other hand, processing the multi-channel information of the color camera will greatly increase the calculation cost and reduce the system efficiency

The most critical limitation is that compared with grayscale cameras, color cameras only receive photons in red, green, and blue bands, and the neighborhood averaging operation is used for demosaicing during the imaging process, resulting in the loss of a large number of image details

The original color information on the surface of the object will also interfere with the color-coded information of the color-coded structured light, which greatly limits the measurement accuracy

Generally speaking, the existing true-color 3D reconstruction system has high detection cost and a large amount of computation, and it is difficult to achieve higher-precision true-color 3D point cloud reconstruction

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