Image reconstruction method, device and equipment

Abstract

The invention provides an image reconstruction method, device and equipment, and the method comprises the steps: determining a plurality of key point pairs based on N first light strip center lines in a first target image and N second light strip center lines in a second target image, and enabling the key point pairs to comprise first pixel points in the first light strip center lines and second pixel points in the second light strip center lines; for each first pixel point in the first light strip center line, determining a plurality of candidate matching points corresponding to the first pixel point from all the second light strip center lines, determining a texture fusion feature corresponding to the first pixel point based on the first texture image, and determining a texture fusion feature corresponding to each candidate matching point based on the second texture image; selecting a second pixel point corresponding to the first pixel point from the plurality of candidate matching points based on the texture fusion feature corresponding to the first pixel point and the texture fusion feature corresponding to each candidate matching point; and generating a three-dimensional reconstructed image based on the three-dimensional points corresponding to the plurality of key points. According to the scheme, the problem of mismatching of multi-line laser is solved.

Description

technical field [0001] The present application relates to the technical field of image processing, and in particular, to an image reconstruction method, apparatus, and device. Background technique [0002] The three-dimensional imaging device can be composed of a laser and a camera. The laser is used to project line structured light onto the surface of the object to be measured (that is, the object to be measured), and the camera is used to shoot the object to be measured to obtain an image with line structured light, that is, the line structure. light image. After the line structured light image is obtained, the center line of the light bar of the line structured light image can be obtained, and the center line of the light bar can be converted according to the pre-calibrated sensor parameters to obtain the spatial coordinates (ie, three-dimensional coordinates) of the current position of the measured object. . Based on the spatial coordinates of the measured object at th...

AI Technical Summary

Problems solved by technology

[0003] In order to realize the three-dimensional reconstruction of the measured object, it is necessary to collect line-structured light images of different positions of the measured object, that is, the laser projects line-structured light to different positions of the measured object, and each position corresponds to a line-structured light image. Only the line structured light image corresponding to one position is collected, so the camera needs to collect multiple line structured light images to complete the 3D reconstruction, that is, the 3D reconstruction takes a long time

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