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Large-scale target three-dimensional reconstruction method and system based on binocular vision

A binocular vision and three-dimensional reconstruction technology, applied in the field of computer vision, can solve problems such as missing and target point cloud distortion, and achieve the effects of improving the effect, improving the matching accuracy, good economy and application value

Pending Publication Date: 2022-01-21
XI AN JIAOTONG UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to provide a method and system for large-scale target 3D reconstruction based on binocular vision, to solve the problem of target point cloud distortion and loss caused by illumination and environmental changes in the process of 3D reconstruction of large targets in different scenes

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  • Large-scale target three-dimensional reconstruction method and system based on binocular vision
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  • Large-scale target three-dimensional reconstruction method and system based on binocular vision

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[0067] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0068] see figure 1 , the present invention is based on binocular vision large target three-dimensional reconstruction method, comprises the following steps:

[0069] Step 1), such as figure 2 As shown, four binocular camera modules are arranged around the large target to be measured. The plane of the target is the x-y plane, and the center of the target is the origin to establish a spatial rectangular coordinate system. The binocular camera module with a field of view of 45° is used. , determine the x-axis and y-axis directions according to the size and shape of the target, calculate the distance l between the first binocular camera module CAM1 and the origin, and arrange CAM1 at the coordinate point (0, l, 0) so that its optical axis is parallel to The y-axis is negative; rotate 90° clockwise to arrange the binocular camera module CAM2, w...

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Abstract

The invention discloses a large-scale target three-dimensional reconstruction method and system based on binocular vision. The three-dimensional reconstruction method comprises the following steps: obtaining binocular images of a target at different visual angles; performing dual-threshold judgment on pixel information in the binocular image, positioning an information missing position, and performing information enhancement on missing pixels by using a tensor completion algorithm; extracting a target in the binocular image after information enhancement; and carrying out stereo matching on the binocular image of the target, calculating local point cloud information according to the obtained depth map, and restoring the overall three-dimensional structure of the target through point cloud splicing. The binocular vision-based three-dimensional reconstruction technology can effectively overcome the influence of environment change on the reconstruction effect, the tensor completion technology is utilized to enhance the missing pixel information of the target caused by overexposure and shadow, and then the target is segmented and extracted, so that the interference of the background on the three-dimensional reconstruction is solved. The point cloud reconstruction effect is improved.

Description

technical field [0001] The invention belongs to the field of computer vision and relates to a method and system for three-dimensional reconstruction of a large target based on binocular vision. Background technique [0002] The 3D reconstruction technology can measure the target data according to the relevant instruments, restore the structure of the target and its scene information, and thus is widely used in military affairs, medical treatment, restoration of cultural relics, and unmanned driving. [0003] According to the different methods of measuring target data in 3D reconstruction, it can be divided into contact measurement and non-contact measurement. Contact measurement generally has high precision, but it is difficult to apply to large or irregular targets due to its complicated operation and damage to the target to a certain extent during the measurement process. Non-contact measurement mainly includes 3D reconstruction based on lidar and 3D reconstruction based ...

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Application Information

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IPC IPC(8): G06T17/00G06T7/13G06T7/136G06T7/187
CPCG06T17/00G06T7/13G06T7/136G06T7/187G06T2207/10024
Inventor 刘馨媛荣海军杨朝旭陶思宇张涛王瑞刘泽华黄辉
Owner XI AN JIAOTONG UNIV
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