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Affine reconstructing method based on parallel planes and infinite points

A technology of parallel planes and points at infinity, applied in the field of affine reconstruction of space objects, to achieve the effect of simple calculation and high precision

Inactive Publication Date: 2012-09-19
YUNNAN UNIV
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Problems solved by technology

[0005] In the document "Determining the homography matrix of the infinite plane by the projection of parallel planes" (Sun Fengmei, Hu Zhanyi, Wu Fuchao. Journal of Software, 2003, 14(5): 936-948), it is proposed to use parallel planes to determine the homography of the infinite plane. The corresponding matrix, and then can directly affine reconstruct the three-dimensional object, but the algorithm in this paper needs two sets of parallel planes, because not all objects can contain two sets of parallel planes, and some spatial objects only contain one set of parallel planes , so this algorithm has certain limitations and needs to be further studied

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  • Affine reconstructing method based on parallel planes and infinite points

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[0034] The present invention proposes a method of affine reconstruction based on parallel planes and points at infinity. The specific operations are as follows: figure 1 Shown: the selected experimental target of the present invention is a regular triangular prism with any edge length, such as figure 2 As shown, it is advisable to set its edge length as 30cm, and take point A 1 is the origin of the coordinate system, in the triangle A 1 B 1 C 1 The plane where they are located is taken as B 1 C 1 The straight line where the midpoint of is located and the straight line perpendicular to it are the y-axis and the x-axis, so as to pass through point A 1 And the line perpendicular to the xy plane is the z axis, and the right-handed rectangular coordinate system A is established 1 -xyz, then estimate A, B, C, D, E, F, G and A 1 , B 1 , C 1 ,D 1 , O, O 1 (Such as figure 2 ) coordinates are: A(0, 0, 30),

[0035] The specific steps are as follows:

[0036] (1) To mak...

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Abstract

The invention relates to an affine reconstructing method based on parallel planes and infinite points, which is applied to the affine reconstructing under the condition that a group of parallel planes and a pair of infinite points are in a scene, the method comprises the steps of shooting two images comprising three visual planes (wherein one group is the parallel planes); extracting the image coordinate of each point required by the image, determining the homographic matrix corresponding to the parallel planes in the scene, establishing a linear constraint equation to the infinite homograph by using the constraint of the infinite point to the infinite homographic matrix, and linearly solving the matrix; finally, establishing a camera matrix to solve the world coordinate of a spatial point so as to reconstruct the affine of an object in the scene. The operations involved in the solving process are all linear operations, and therefore, the affine reconstructing method can avoid certain error and has certain precision.

Description

technical field [0001] The invention belongs to the field of three-dimensional reconstruction in computer vision, and is a new method for affine reconstruction of space objects by using a group of parallel planes and a pair of infinite points. Background technique [0002] Three-dimensional reconstruction is an important research field in the field of computer vision. It refers to recovering the world coordinates of the corresponding spatial points from the image point coordinates of two or more images, that is, restoring the three-dimensional spatial structure of the object. In general, when the internal parameters of the camera are constant, the reconstruction framework can be divided into two categories: the first category is based on the fundamental matrix and epipolar geometry to calculate the internal parameters, and the most common one is between two images. The Kruppa equation is established between them; the second type is hierarchical and step-by-step self-calibrat...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/00
Inventor 赵越胡晓华王慧
Owner YUNNAN UNIV
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