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Rapid three-dimensional reconstruction system and method

A three-dimensional reconstruction and fast technology, applied in the field of computer vision, can solve the problems of slow processing speed, difficulty in ensuring the accuracy and robustness of measurement, and inability to achieve real-time performance, so as to achieve the effect of real-time three-dimensional reconstruction

Pending Publication Date: 2021-08-27
HEBEI AGRICULTURAL UNIV.
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  • Summary
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  • Claims
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AI Technical Summary

Problems solved by technology

[0003] To sum up, both SFM and binocular stereo vision need to perform mathematical operations on the basis of images to obtain the 3D structure of objects, which is an indirect method. Binocular stereo vision has a certain dependence on the surface texture of objects, and it is difficult to Guaranteed measurement accuracy and robustness
SFM has high requirements on machine performance and algorithms, and the processing speed is slow, which cannot meet the real-time requirements.

Method used

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Embodiment 1

[0023] A fast three-dimensional reconstruction system, including more than three camera devices and a host that are set up non-parallel around the object to be reconstructed; the camera devices can simultaneously acquire color images and depth images, and the host receives images collected by each camera device for registration and generation Point cloud; the relative poses between the camera devices have been calibrated.

[0024] Further, the camera equipment is three kinect cameras.

Embodiment 2

[0026] A fast three-dimensional reconstruction method, comprising the following steps:

[0027] Step 1: Camera calibration: calibrate the relative pose between the camera equipment; the relative pose includes internal parameters and external parameters;

[0028] Step 2: Collect images: use the camera equipment calibrated in step 1 to simultaneously collect the color image and the depth image of the reconstructed object;

[0029] Step 3: Image registration: register each color image and the corresponding depth image;

[0030] Step 4: Generating a point cloud: converting the registered image into a corresponding segmented point cloud under the control of the internal parameters one by one;

[0031] Step 5: point cloud registration: register the point clouds transformed by each camera device into a complete 3D point cloud of the reconstructed object under the control of the external parameters; it consists of the following specific steps:

[0032] Step 5-1: initial matching: us...

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Abstract

The invention discloses a rapid three-dimensional reconstruction system and method. The system comprises more than three camera devices and a host, wherein the camera devices surround a reconstructed object and are erected in a non-parallel manner; the camera devices can obtain color images and depth images at the same time, and the host receives the images collected by the camera devices and carries out registration to generate point clouds. The method comprises the steps of camera calibration, image acquisition, image registration, point cloud generation and point cloud registration. According to the invention, three-dimensional reconstruction can be rapidly carried out on the tested object through a non-contact method, the tested object is not damaged, the method is rapid and accurate, and online real-time three-dimensional reconstruction can be realized.

Description

technical field [0001] The invention relates to a three-dimensional reconstruction system and method, in particular to a fast three-dimensional reconstruction system and method, and belongs to the technical field of computer vision. Background technique [0002] Currently, binocular stereo vision, structure for motion recovery (SFM) and utilizing 3D point clouds are the three main ways to perform 3D reconstruction. Binocular stereo vision, that is, based on the principle of parallax, uses imaging equipment to obtain two images of the measured object from different orientations, and obtains three-dimensional information of the object by identifying the corresponding points of the images and calculating the depth of each point based on the principle of triangulation. This technology has a certain dependence on the surface texture of the object, which brings difficulties to the 3D reconstruction work in complex environments. In addition, the 3D reconstruction based on binocula...

Claims

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Application Information

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IPC IPC(8): G06T17/00G06T7/80G06T7/30
CPCG06T17/00G06T7/80G06T7/30G06T2207/10024G06T2207/10028
Inventor 程曼周猛祥肖志刚袁洪波刘亚东范才虎蔡振江
Owner HEBEI AGRICULTURAL UNIV.
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