Single-lens three-dimensional image reconstruction method based on laser radar point cloud data assistance

Abstract

The invention discloses a single-lens three-dimensional image reconstruction method based on laser radar point cloud data assistance. The method comprises the steps: acquiring multiple visible light images and laser radar point cloud data of a scanned object; based on the laser radar point cloud data, adopting an incremental motion recovery structure algorithm to carry out three-dimensional reconstruction on the visible light image so as to acquire an image point cloud; and registering the image point cloud and the laser radar point cloud data by adopting a mode of combining rigid transformation and non-rigid transformation to obtain a three-dimensional point cloud model of a scanned object. According to the method, geometric correction is carried out by adding virtual ground control points in the three-dimensional reconstruction process of the image in a mode of searching homonymous points of the image and the laser radar point cloud, so that the distortion condition in the three-dimensional reconstruction process of the image can be reduced; and image point cloud and laser radar point cloud data are registered in a rigid transformation and non-rigid transformation combined mode,the registration precision can be improved, and high-precision three-dimensional point cloud model reconstruction is achieved.

Description

technical field [0001] The invention relates to the technical field of image data fusion, in particular to a single-lens three-dimensional image reconstruction method based on lidar point cloud data assistance. Background technique [0002] Image information has rich texture information, high resolution and edge precision, and flexible and convenient acquisition methods. However, in the modeling process based on image 3D reconstruction, a large number of image control points are required for subsequent data processing, and the workload is heavy. Moreover, due to the limitation of natural conditions, there are many areas where field measurement and control is difficult and a large number of areas without effective image control points, and effective ground control points cannot be obtained during the measurement process. Therefore, the accuracy of 3D reconstruction data based on image information is relatively low. Big difference. Lidar can acquire 3D point cloud data of the...

AI Technical Summary

Problems solved by technology

However, since the lidar point cloud data lacks texture information, it is necessary to register with the texture image to obtain a 3D point cloud model with rich texture information.

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