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Method for auto-registration of multi-amplitude deepness image

A depth image and automatic registration technology, applied in image analysis, image data processing, instruments, etc., can solve problems such as poor stability of optimization calculation, slow convergence speed, and inability to converge, and achieve fast calculation speed, improved reliability, and reliable sex high effect

Inactive Publication Date: 2009-01-21
BEIHANG UNIV
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AI Technical Summary

Problems solved by technology

Pairwise optimization repeatedly uses the ICP algorithm to optimize two images, so the convergence speed is slow and may not be able to converge. At the same time, the optimization method directly optimizes the total error, and the convergence speed is fast, but the stability of complex optimization calculations is poor

Method used

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  • Method for auto-registration of multi-amplitude deepness image
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  • Method for auto-registration of multi-amplitude deepness image

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Embodiment Construction

[0032] Such as figure 1 As shown, the present invention is divided into two depth image registration and multiple depth image global matching processes.

[0033] 1. Registration of two depth images

[0034] Rough registration of two depth images is a process of coarse registration of partially overlapping two depth images at any position. The goal is to provide a good initial position for precise registration to ensure its convergence. Since the depth image contains color information, the present invention adopts an image corresponding point matching method for registration, and the steps are as follows:

[0035] (1) First, calculate SIFT features on two images respectively, each feature point corresponds to a 128-dimensional feature vector, and use Euclidean distance to measure the distance between two SIFT features; in this step, Lowe is used to calculate SIFT features, D. Distinctive image features from scale-invariant keypoints. Int. J. of Computer Vision 60, 2, 91-110....

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Abstract

The invention relates to a multi-frame range image automatic registration method. (1) Any two frames of range images are registered through using SIFT characteristics, and the correctness of a result is judged. First, the SIFT characteristics of the two frames of the range images are calculated, corresponding points are bidirectionally crossly matched, then polar line constraint is calculated by a RANSAC algorithm, error matching is filtered, then the two frames of the range images are accurately registered through using an ICP algorithm, and the correctness of a result is judged. (2) a cycle space of a model diagram is researched, and a global consistent registration result is calculated. First, a derived cycle basis of the model diagram is calculated, an adjacency relational graph of the derived cycle basis is built, then a group basis of the consistent cycle space is calculated, and further a consistent registration result is obtained. The method can effectively increase the research speed of the cycle space, and an exponential time complexity can be increased to a line time complexity in an ideal condition. (3) the consistency of a cycle is judged, and the consistency of the registration result in the cycle is judged by a judgment method of relative differences. The invention can reliably automatically register multi-frame range images, through researching consistent cycles, error registration is taken out, thereby obtaining consistent registration results.

Description

technical field [0001] The invention belongs to the technical field of computer virtual reality, and in particular relates to automatic registration of multiple depth images to obtain a complete model, and the method can be used for geometric modeling of a three-dimensional model. Background technique [0002] In recent years, the rapid development of 3D scanning technology makes automatic registration technology more and more important. A depth image is an image with depth information obtained after scanning by a 3D scanning device. Registration refers to the process of transforming depth images scanned from different positions and angles into the same coordinate system through rigid transformation. Through registration, multiple depth images are stitched together to obtain a complete 3D model. The registration calculation process can be mainly divided into registration of two depth images and registration of multiple depth images. The registration of two depth images is...

Claims

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Application Information

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IPC IPC(8): G06T7/00
Inventor 齐越赵沁平侯飞沈旭昆
Owner BEIHANG UNIV
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