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Three-dimensional reconstruction method and system based on photogrammetric photometric stereo model

A technology of photometric stereo and photogrammetry, which is applied in the direction of measuring devices, 3D modeling, and optical devices, can solve the problems of three-dimensional reconstruction of multiple images, and achieve the effects of improved accuracy, good reliability, and good applicability

Pending Publication Date: 2020-12-11
AEROSPACE INFORMATION RES INST CAS
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Problems solved by technology

When using close-range photogrammetry to measure terrain, in order to obtain terrain within a certain range, the three angles of the camera are usually not 0° in practice, so the existing photometric stereo method is not suitable for multiple images in actual situations. Three-dimensional reconstruction

Method used

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  • Three-dimensional reconstruction method and system based on photogrammetric photometric stereo model

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Embodiment 1

[0044] This embodiment discloses a three-dimensional reconstruction method based on a photogrammetric photometric stereo model, such as figure 1 shown, including the following steps:

[0045] S1 reads the camera's inner orientation attitude, outer orientation attitude parameters and incident light vector.

[0046] Read the inner and outer orientation parameters of the camera at the same position for close-range photography, the gray value of the image, and the azimuth and altitude angles of the three images of the sun. Among them, the parameters of inner orientation attitude and outer orientation attitude, such as figure 2 As shown, including reading the coordinates (x, y) of the image point in the image plane coordinates; the coordinate values ​​(X, Y, Z) of the target in the object space coordinate system; the three-dimensional coordinates (X, Y, Z) of the principal point of the camera image (X s ,Y s ,Z s ); the rotation matrix of the camera (a 1 ,a 2 ,a 3 ,b 1 ,b ...

Embodiment 2

[0132] Based on the same inventive concept, this embodiment also discloses a three-dimensional reconstruction system based on a photogrammetric photometric stereo model, including:

[0133] The parameter acquisition module is used to read the inner orientation attitude, outer orientation attitude parameters and incident light vector of the camera;

[0134] The normal vector calculation module is used for substituting the inner orientation attitude and outer orientation attitude parameters into the photogrammetric collinear equation and the error propagation equation to obtain the normal vector of the object coordinates;

[0135] The angle calculation module is used to obtain the incident angle, exit angle and phase angle cosine function of the light according to the normal vector and the incident light vector;

[0136] The radiation equation establishment module is used to establish the radiation equation of the image according to the incident angle, exit angle and phase angle...

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Abstract

The invention relates to a three-dimensional reconstruction method and system based on a photogrammetric photometric stereo model. The method comprises the following steps: reading an internal orientation attitude, an external orientation attitude parameter and an incident light vector of a camera; substituting the parameters into a photogrammetry collinear equation and an error propagation equation to calculate a normal vector of an object space coordinate; according to the normal vector and the incident light vector, solving a cosine function of a light incident angle, an emergent angle anda phase angle; establishing a radiation equation of the image according to the incident angle, the emergent angle and the phase angle of the light; according to the radiation equation of the image, performing iterative solution to obtain gradient values of the elevation in the x and y directions of the image space coordinates; according to the gradient values of the image space coordinates in thex direction and the y direction, obtaining the relative elevation value of each point through least square solution, and therefore a reconstructed three-dimensional model is obtained. The limitation that three attitudes of a camera in a traditional photometric stereo are all 0 degree can be effectively broken through, the application range of the photometric stereo in close-range photogrammetry isexpanded, and the relative elevation value of an object is recovered.

Description

technical field [0001] The invention relates to a three-dimensional reconstruction method and system based on a photogrammetry photometric stereo model, and belongs to the technical field of image three-dimensional reconstruction. Background technique [0002] In computer vision, the three-dimensional reconstruction technology using the photometric stereo method is based on the three images obtained by the camera at the same position under different lighting conditions, combined with the image radiation equation and using the reflection characteristics to solve the normal vector of each point on the surface of the object, so as to reconstruct the the shape of the object. [0003] The distance calculated by the existing photometric stereo method is usually the relative vertical distance from the camera lens plane under the upright photography condition. When using close-range photogrammetry to measure terrain, in order to obtain terrain within a certain range, the three angl...

Claims

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Application Information

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IPC IPC(8): G06T17/00G01B11/24
CPCG06T17/00G01B11/24G06T2200/08
Inventor 彭嫚万文辉王晔昕刘召芹邸凯昌
Owner AEROSPACE INFORMATION RES INST CAS
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