基于宽基线立体视觉的远距离三维重建

doi:10.3785/j.issn.1008-973X.2010.06.004

2010, Vol. 44

Issue (6): 1073-1078 DOI: 10.3785/j.issn.1008-973X.2010.06.004

自动化技术、计算机技术

基于宽基线立体视觉的远距离三维重建

王炜强, 徐进, 杜歆, 刘济林

浙江大学信息与通信工程研究所,浙江省综合信息网技术重点实验室,浙江杭州 310027

Long-range 3D reconstruction based on wide-baseline stereo vision

WANG Wei-qiang, XU Jin, DU Xin, LIU Ji-lin

Institute of Information and Communication Engineering, Zhejiang University, Zhejiang Provincial Key Laboratory of Information Network Technology, Hangzhou 310027,China

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摘要：

针对月球车视觉导航中远距离场景的三维重建问题,提出一种基于相机自标定的宽基线立体视觉方法.该方法首先提取立体图对的尺寸不变性（SIFT）特征并进行匹配,得到特征点对应关系；再使用外极线几何约束描述立体图像校正的直射变换,对其Sampson误差使用LevenbergMarquardt(LM)算法求得最小二乘最优解,完成相机参数估计和图像校正；对校正后的图像使用种子像素视差扩张算法进行宽基线立体匹配,根据匹配得到的视差完成目标场景三维重建.实验表明:该方法解决了月球车相机的现场标定难题,并能够解决宽基线立体视觉面临的光照差异、透视畸变、遮挡等问题,对远距离山脉等自然场景的三维重建效果良好,重建精度较高.

Abstract:

A self-calibration based wide-baseline stereo vision technique was proposed for remote scene’s 3D reconstruction in vision based navigation of lunar rover. Correspondences between stereo rig were obtained by extracting and matching of scaleinvariant feature transform (SIFT) features. Then with the epipolar geometrical description of rectifying collineation, the leastsquares solution to Sampson error was achieved by Levenberg-Marquardt(LM) algorithm, which obtained the camera parameter and the rectified stereo rig. Following, the widebaseline dense matching was completed using seeds’ disparity expansion algorithm. Finally, target’s 3D reconstruction was achieved on the calculated disparity. This technique is demonstrated to have good performance on a number of remote natural mountain scenes and solve the problems of field calibration, change in illumination, perspective deformations and occlusions in widebaseline stereo vision.

出版日期: 2010-07-16

TP 391.41

基金资助:

国家自然科学基金资助项目NSFC:60534070

通讯作者: 刘济林，男，教授. E-mail: liujl@zju.edu.cn

作者简介: 王炜强1985—)，男，河南洛阳人，硕士生，从事计算机视觉、机器人导航方面的研究.E-mail:alecwong@zju.edu.cn

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引用本文:

王炜强, 徐进, 杜歆, 刘济林. 基于宽基线立体视觉的远距离三维重建[J]. J4, 2010, 44(6): 1073-1078.

WANG Wei-Jiang, XU Jin, DU Xin, LIU Ji-Lin. Long-range 3D reconstruction based on wide-baseline stereo vision. J4, 2010, 44(6): 1073-1078.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2010.06.004 或 http://www.zjujournals.com/eng/CN/Y2010/V44/I6/1073

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