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基于三焦点张量的特征点三维重建方法
Alternative TitleCharacteristic point three-dimensional reconstruction method based on trifocal tensor
赵吉宾; 夏仁波; 刘伟军; 黄以君
Department装备制造技术研究室
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Country中国
Subtype发明
Status未缴年费
Abstract本发明涉及一种基于三焦点张量的特征点三维重建方法,包括以下步骤:在被测物体表面设置编码点、标记点及标尺;用数码相机多角度拍摄被测物照片输入到计算机进行图像处理得到图像中的坐标{xd,x′d,x″d};根据上述图像坐标{xd,x′d,x″d}所有图像进行重新排序并进行归一化处理;分别计算各组图像的三焦点张量,确定编码点和标记点的三维点坐标;将各组三维点坐标得到各点在统一坐标系下的三维点坐标(x,y,z);根据标尺计算长度和实际长度的比值得到度量空间下的新三维点坐标(x’,y’,z’);集束调整上述新三维点坐标(x’,y’,z’),得到整体优化的三维点坐标。本发明三维点的计算精度高,使用简单、便于操作,只需一台便携式数码相机、一台普通的笔记本电脑、一组编码点和标记点以及一根标尺。
Other AbstractThe invention relates to a characteristic point three-dimensional reconstruction method based on trifocal tensor, which includes the following steps: coding points, marking points and a ruler are arranged on the surface of the measured object a digital camera is used to take photos of the measured object in multiple angles, and the photos are inputted to a computer for image processing to obtainthe image coordinates (xd, x'd and x''d) all images are rearranged for normalization treatment according to the image coordinates (xd, x'd and x''d) the trifocal tensor of each group of images is respectively calculated to determine the three-dimensional point coordinates of the coding points and the marking points each group of three-dimensional point coordinates is processed to obtain the three-dimensional coordinates (x, y and z) of each point in the unified coordinate system the specific value of the length and the actual length is calculated through the ruler to obtain new three-dimensional point coordinates (x', y' and z') in metric space the new three-dimensional point coordinates (x', y' and z') receive focusing control to obtain integrally optimized three-dimensional point coordinates. The three-dimensional reconstruction method in the invention has high calculation accuracy, simple use, convenient operation, needs only a portable digital camera, a common laptop, a groupof coding points and marking points, and a ruler.
PCT Attributes
Application Date2008-12-10
2010-06-23
Date Available2011-06-08
Application NumberCN200810229516.8
Open (Notice) NumberCN101750029A
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/13329
Collection智能产线与系统研究室
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
赵吉宾,夏仁波,刘伟军,等. 基于三焦点张量的特征点三维重建方法[P]. 2010-06-23.
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