CN107170043A - A kind of three-dimensional rebuilding method - Google Patents

A kind of three-dimensional rebuilding method Download PDF

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Publication number
CN107170043A
CN107170043A CN201710465790.4A CN201710465790A CN107170043A CN 107170043 A CN107170043 A CN 107170043A CN 201710465790 A CN201710465790 A CN 201710465790A CN 107170043 A CN107170043 A CN 107170043A
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cosθ
point
rotation platform
camera
dimensional
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CN107170043B (en
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李纯明
吴奇
韩云龙
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University of Electronic Science and Technology of China
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration

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  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
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Abstract

The invention belongs to three-dimensional reconstruction field, it is related to a kind of three-dimensional rebuilding method.Present invention incorporates technique of binocular stereoscopic vision, structured light technique and rotation platform technology, it is proposed that a kind of precision is high, the three-dimensional rebuilding method that speed is fast, cost is low；Possess reconstruction speed faster compared to binocular stereo vision, precision is higher, and the regional effect not enriched for article surface vein is good.Compared to traditional structured light technique, trouble of the system without projector calibrating replaces projecting apparatus with second camera, and the demarcation of camera is more accurate than the demarcation of projecting apparatus, so the three-dimensional point cloud rebuild is also better.The various visual angles point cloud of use uses the stitching algorithm of rotation platform, compared to traditional ICP method for registering, and this method point cloud is faster, simple to operate without manually participating in without initial point cloud data are needed.

Description

A kind of three-dimensional rebuilding method
Technical field
The invention belongs to three-dimensional reconstruction field, it is related to a kind of three-dimensional rebuilding method.
Background technology
Three-dimensional reconstruction is a branch of computer vision, is computer vision and computer graphic image processing phase With reference to a research direction.It is widely used in industrial automation, reverse-engineering, historical relic's protection, computer aided medicine, void Intend the scenes such as reality, augmented reality and robot application.
Technique of binocular stereoscopic vision and structured light technique are two kinds of typical three-dimensional reconstructions, are respectively had the advantage that and not Foot.Technique of binocular stereoscopic vision is the left and right two images in two angle shot objects by camera, then utilizes three-dimensional Same place in the two images of left and right, and combining camera inside and outside parameter are searched out with algorithm, measured object is gone out using triangle intersection calculation The three-dimensional space position coordinate information of body.Technique of binocular stereoscopic vision does not need active projective patterns information, and hardware configuration is simple, But reconstruction point cloud precision is low, speed is rebuild slowly, for the few object of surface texture information, match point error etc. easily occur and lack Point.Structured light technique is to be shot to the specific coding pattern of body surface projection, then by camera by body surface by projecting apparatus The coding pattern modulated, the depth information of object is recovered by the decoding computing of coding pattern.Structured light technique rebuilds essence Degree is high, and speed is fast, even the few object of surface texture information can also obtain rebuilding effect well, but traditional structure light Reconstructing system is all monocular mostly, needs to demarcate projecting apparatus during depth information is calculated, and projecting apparatus Calibration process is again extremely cumbersome.
The content of the invention
It is to be solved by this invention to be, there is problem aiming at above-mentioned conventional method, propose one kind combination binocular solid The three-dimensional rebuilding method of vision, structure light and rotation platform.
For the ease of the understanding to the technology of the present invention, the geometrical model that the present invention is used is introduced first, as shown in figure 1, its In, Ol is left camera photocentre, and Or is right camera photocentre, and P is any point in space, and Pl and Pr are respectively P points in left and right camera In picture point, referred to as a pair of same places, intersection Lpl, Lpr of plane POlOr and left and right image plane are referred to as a pair of polar curves.
The technical scheme is that：As shown in Fig. 2 a kind of three-dimensional rebuilding method, it is characterised in that including following step Suddenly：
S1, camera parameter demarcation, the relative position square between the inside and outside parameter and two cameras of demarcation left and right two camera Battle array；, can be peaceful using Zhang Zhengyou gridiron pattern calibration for cameras internal reference and the spin matrix R of two cameras according to practical situations Move matrix T
S2, the three-dimensional coordinate point for obtaining the single angle of target object, as shown in figure 3, specifically including：
S21, to target object six gray encoding images are projected, after being shot by two cameras in left and right, to shooting Image is decoded, then each pixel has Gray's code value in image；
S22,4 sinusoidal phase-shift coding images are projected to object, after being shot by the camera of left and right two, to the image of shooting Decoded, then each pixel has a phase value in image；
S23, the method by sub-pix homotopy mapping in left images, for the certain point p in left imagel(ul, vl), its homonymy matching point in right image is found, is specifically included：
S231, according to the relative position matrix between the intrinsic parameter and camera of camera, find out point pl(ul,vl) in right image In polar curve l；
Gray's code value and point p on S232, calculating polar curve ll(ul,vl) the equal region A of place's Gray's code value；
S233, the sinusoidal phase value to pixel in the A of region carry out linear fit computing, obtain the straight line of linear fit；
S234, find out on the straight line of linear fit and point pl(ul,vl) the equal u axial coordinates u of place's phaser, then by urSit Marker tape enters polar curve l and obtains v axial coordinates vr, point p nowr(ur,vr) it is pl(ul,vl) corresponding sub-pix is same in right image Famous cake；
S24, the inside and outside parameter according to the step S23 homonymy matching points obtained and camera, with reference to binocular stereo vision imaging Geometrical model, obtains the three-dimensional coordinate point of the single angle of target object；
The purpose of such scheme is to find sub-pix same place, phase value periodic line after being decoded using sinusoidal phase shift striped Property change characteristic combination Gray code pattern and photography geometry in limiting constraint, to phase value progress linear fit, obtain The same place of left images Central Asia pixel matching is arrived, the same place matched compared to pixel precision finally calculates obtained thing Body three-dimensional point cloud, surface is more smooth, and point cloud distribution is more uniform, and error is also smaller.
S3, the complexity according to actual object, multiple rotary rotation platform, to each angle repeat step S2, are obtained To the three-dimensional coordinate point of the multiple angles of target object.
S4：Using step S2, rotation platform is individually rebuild, plane fitting is carried out to rotation platform, comprised the following steps that：
S41, the Plane Equation equation below 1 for building rotation platform：
Ax+by+cz+d=0 (formula 1)
S42, the n cloud data (x by rotation platformi,yi,zi) substitute into formula 1 can obtain equation below 2：
S43, pass through least square solution formula 2 obtain a, b, c, the unit normal vector of d value, then rotation platform plane For equation below 3：
Then the center O of rotation platform plane is equation below 4：
S5, using rotation platform the point cloud of n angle of target object is spliced, be specially：
S51, structure rotation platform splicing multi-angle point cloud model equation below 5：
Wherein shown in R equation below 6：
In formula 6：
R1=NxNy(1-cosθ)+cosθ
R2=NxNy(1-cosθ)+Nz sinθ
R3=NxNz(1-cosθ)-Ny sinθ
R4=NxNy(1-cosθ)-Nz sinθ
R5=NyNy(1-cosθ)+cosθ
R6=NyNz(1-cosθ)+Nx sinθ
R7=NxNz(1-cosθ)+Ny sinθ
R8=NyNz(1-cosθ)-Nx sinθ
R9=NzNz(1-cosθ)+cosθ
Wherein, O (Xc,Yc,Zc) it is coordinate of the center of rotation platform plane under reference frame, N (Nx,Ny,Nz) be The O and N, θ solved in unit vector of the plane normal of rotation platform under reference frame, as step S4 is two panels point The anglec of rotation between cloud；
S52, using the formula 5 in S5, the three-dimensional coordinate point of the multiple angles of the target object generated in S3 is spliced to together Under one coordinate system
S6, acquisition target complete three-dimensional model.
The world coordinate system of three-dimensional reconstruction of the present invention is all the camera coordinates system of left camera, using this feature, to rotation Platform carries out three-dimensional reconstruction, then carries out plane fitting to the point cloud of rotation platform, then the normal of plane is exactly rotation platform Coordinate of the normal under world coordinate system, the center of gravity of point cloud is exactly coordinate of the center of rotation platform under world coordinate system.This Calibration algorithm is planted without specifically demarcate thing, algorithm is simple and convenient
Beneficial effects of the present invention are：Present invention incorporates technique of binocular stereoscopic vision, structured light technique and rotation platform Technology, it is proposed that a kind of precision is high, the three-dimensional rebuilding method that speed is fast, cost is low；Possess reconstruction compared to binocular stereo vision Faster, precision is higher for speed, and the regional effect not enriched for article surface vein is good.Compared to traditional structure light Technology, trouble of the system without projector calibrating replaces projecting apparatus with second camera, and the demarcation of camera is than projecting apparatus Demarcation it is more accurate, so rebuild three-dimensional point cloud it is also better.The various visual angles point cloud of use is using rotation platform Stitching algorithm, compared to traditional ICP method for registering, faster, without initial point cloud data are needed, operation is simple for this method point cloud It is single manually to participate in.
Brief description of the drawings
The three-dimensional reconstruction geometrical model that Fig. 1 uses for the present invention；
Fig. 2 is three-dimensional reconstruction flow chart；
Fig. 3 is the three-dimensional reconstruction flow chart of one angle of object.
Embodiment
Technical scheme is described in detail for Summary, will not be repeated here.

Claims (1)

1. a kind of three-dimensional rebuilding method, it is characterised in that comprise the following steps：
S1, camera parameter demarcation, the relative position matrix between the inside and outside parameter and two cameras of demarcation left and right two camera；
S2, the three-dimensional coordinate point for obtaining the single angle of target object, are specifically included：
S21, to target object six gray encoding images are projected, after being shot by two cameras in left and right, to the image of shooting Decoded, then each pixel has Gray's code value in image；
S22,4 sinusoidal phase-shift coding images are projected to object, after being shot by the camera of left and right two, the image of shooting is carried out Decoding, then each pixel has a phase value in image；
S23, the method by sub-pix homotopy mapping in left images, for the certain point p in left imagel(ul,vl), seek Its homonymy matching point in right image is looked for, is specifically included：
S231, according to the relative position matrix between the intrinsic parameter and camera of camera, find out point pl(ul,vl) in right image Polar curve l；
Gray's code value and point p on S232, calculating polar curve ll(ul,vl) the equal region A of place's Gray's code value；
S233, the sinusoidal phase value to pixel in the A of region carry out linear fit computing, obtain the straight line of linear fit；
S234, find out on the straight line of linear fit and point pl(ul,vl) the equal u axial coordinates u of place's phaser, then by urGrid zone Enter polar curve l and obtain v axial coordinates vr, point p nowr(ur,vr) it is pl(ul,vl) corresponding sub-pix is of the same name in right image Point；
S24, the inside and outside parameter according to the step S23 homonymy matching points obtained and camera, with reference to binocular stereo vision imaging geometry Model, obtains the three-dimensional coordinate point of the single angle of target object；
S3, the complexity according to actual object, multiple rotary rotation platform, to each angle repeat step S2, obtain mesh Mark the three-dimensional coordinate point of the multiple angles of object.
S4：Using step S2, rotation platform is individually rebuild, plane fitting is carried out to rotation platform, comprised the following steps that：
S41, the Plane Equation equation below 1 for building rotation platform：
Ax+by+cz+d=0 (formula 1)
S42, the n cloud data (x by rotation platformi,yi,zi) substitute into formula 1 can obtain equation below 2：
S43, obtain a, b, c by least square solution formula 2, d value, then the unit normal vector of rotation platform plane is such as Lower formula 3：
Then the center O of rotation platform plane is equation below 4：
S5, using rotation platform the point cloud of n angle of target object is spliced, be specially：
S51, structure rotation platform splicing multi-angle point cloud model equation below 5：
Wherein shown in R equation below 6：
In formula 6：
R1=NxNy(1-cosθ)+cosθ
R2=NxNy(1-cosθ)+Nz sinθ
R3=NxNz(1-cosθ)-Ny sinθ
R4=NxNy(1-cosθ)-Nz sinθ
R5=NyNy(1-cosθ)+cosθ
R6=NyNz(1-cosθ)+Nx sinθ
R7=NxNz(1-cosθ)+Ny sinθ
R8=NyNz(1-cosθ)-Nx sinθ
R9=NzNz(1-cosθ)+cosθ
Wherein, O (Xc,Yc,Zc) it is coordinate of the center of rotation platform plane under reference frame, N (Nx,Ny,Nz) it is rotation The O and N, θ solved in unit vector of the plane normal of platform under reference frame, as step S4 be two panels point cloud it Between the anglec of rotation；
S52, using the formula 5 in S5, the three-dimensional coordinate point of the multiple angles of the target object generated in S3 is spliced to same Under coordinate system
S6, acquisition target complete three-dimensional model.
CN201710465790.4A 2017-06-19 2017-06-19 A kind of three-dimensional rebuilding method Expired - Fee Related CN107170043B (en)

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Cited By (28)

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Publication number Priority date Publication date Assignee Title
CN107918948A (en) * 2017-11-02 2018-04-17 深圳市自由视像科技有限公司 4D Video Rendering methods
CN108288292A (en) * 2017-12-26 2018-07-17 中国科学院深圳先进技术研究院 A kind of three-dimensional rebuilding method, device and equipment
CN108335350A (en) * 2018-02-06 2018-07-27 聊城大学 The three-dimensional rebuilding method of binocular stereo vision
CN108665535A (en) * 2018-05-10 2018-10-16 青岛小优智能科技有限公司 A kind of three-dimensional structure method for reconstructing and system based on coding grating structured light
CN108895969A (en) * 2018-05-23 2018-11-27 深圳大学 A kind of 3 D detection method and device of phone housing
CN108961378A (en) * 2018-07-05 2018-12-07 深圳辰视智能科技有限公司 A kind of more mesh point cloud three-dimensional rebuilding methods, device and its equipment
CN109064536A (en) * 2018-07-27 2018-12-21 电子科技大学 A kind of page three-dimensional rebuilding method based on binocular structure light
CN109253706A (en) * 2018-08-24 2019-01-22 中国科学技术大学 A kind of tunnel 3 D measuring method based on digital picture
CN109499010A (en) * 2018-12-21 2019-03-22 苏州雷泰医疗科技有限公司 Based on infrared and radiotherapy auxiliary system and its method of visible light three-dimensional reconstruction
CN109541186A (en) * 2018-11-29 2019-03-29 烟台大学 A kind of coarse aggregate compactness calculation method based on form parameter
CN109544454A (en) * 2018-11-20 2019-03-29 广州方舆科技有限公司 A kind of method for automatically split-jointing of point cloud data
CN109648202A (en) * 2018-08-20 2019-04-19 南京理工大学 Non- burnishing surface autonomous classification robot increasing material manufacturing forming accuracy control method
CN109712200A (en) * 2019-01-10 2019-05-03 深圳大学 A kind of binocular localization method and system based on the principle of least square and side length reckoning
CN110288581A (en) * 2019-06-26 2019-09-27 电子科技大学 A kind of dividing method based on holding shape convexity Level Set Models
CN110288699A (en) * 2019-06-26 2019-09-27 电子科技大学 A kind of three-dimensional rebuilding method based on structure light
CN110349251A (en) * 2019-06-28 2019-10-18 深圳数位传媒科技有限公司 A kind of three-dimensional rebuilding method and device based on binocular camera
CN110414435A (en) * 2019-07-29 2019-11-05 深兰科技（上海）有限公司 The generation method and equipment of three-dimensional face data based on deep learning and structure light
CN110910506A (en) * 2019-12-03 2020-03-24 江苏集萃华科智能装备科技有限公司 Three-dimensional reconstruction method and device based on normal detection, detection device and system
CN110926371A (en) * 2019-11-19 2020-03-27 宁波舜宇仪器有限公司 Three-dimensional surface detection method and device
CN111063016A (en) * 2019-12-31 2020-04-24 螳螂慧视科技有限公司 Multi-depth lens face modeling method and system, storage medium and terminal
CN111127633A (en) * 2019-12-20 2020-05-08 支付宝(杭州)信息技术有限公司 Three-dimensional reconstruction method, apparatus, and computer-readable medium
CN111275776A (en) * 2020-02-11 2020-06-12 北京淳中科技股份有限公司 Projection augmented reality method and device and electronic equipment
CN111462331A (en) * 2020-03-31 2020-07-28 四川大学 Method for expanding epipolar geometry and calculating three-dimensional point cloud in real time
CN112509138A (en) * 2020-12-11 2021-03-16 电子科技大学 Indoor plastering robot high-precision three-dimensional reconstruction system based on LCOS
CN112967398A (en) * 2021-03-01 2021-06-15 北京奇艺世纪科技有限公司 Three-dimensional data reconstruction method and device and electronic equipment
CN113074661A (en) * 2021-03-26 2021-07-06 华中科技大学 Projector corresponding point high-precision matching method based on polar line sampling and application thereof
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CN113532325A (en) * 2021-06-08 2021-10-22 深圳市格灵精睿视觉有限公司 Dynamic step number phase resolving method, electronic device and computer readable storage medium

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CN102663753A (en) * 2012-04-12 2012-09-12 浙江大学 Body surface rebuilding method and body surface rebuilding device based on multiple visual angles of binocular stereoscopic vision
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Cited By (34)

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CN107918948A (en) * 2017-11-02 2018-04-17 深圳市自由视像科技有限公司 4D Video Rendering methods
CN108288292A (en) * 2017-12-26 2018-07-17 中国科学院深圳先进技术研究院 A kind of three-dimensional rebuilding method, device and equipment
CN108335350A (en) * 2018-02-06 2018-07-27 聊城大学 The three-dimensional rebuilding method of binocular stereo vision
CN108665535A (en) * 2018-05-10 2018-10-16 青岛小优智能科技有限公司 A kind of three-dimensional structure method for reconstructing and system based on coding grating structured light
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CN108961378A (en) * 2018-07-05 2018-12-07 深圳辰视智能科技有限公司 A kind of more mesh point cloud three-dimensional rebuilding methods, device and its equipment
CN109064536A (en) * 2018-07-27 2018-12-21 电子科技大学 A kind of page three-dimensional rebuilding method based on binocular structure light
CN109648202A (en) * 2018-08-20 2019-04-19 南京理工大学 Non- burnishing surface autonomous classification robot increasing material manufacturing forming accuracy control method
CN109253706A (en) * 2018-08-24 2019-01-22 中国科学技术大学 A kind of tunnel 3 D measuring method based on digital picture
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CN109499010B (en) * 2018-12-21 2021-06-08 苏州雷泰医疗科技有限公司 Radiotherapy auxiliary system based on infrared and visible light three-dimensional reconstruction and method thereof
CN109712200A (en) * 2019-01-10 2019-05-03 深圳大学 A kind of binocular localization method and system based on the principle of least square and side length reckoning
CN109712200B (en) * 2019-01-10 2023-03-14 深圳大学 Binocular positioning method and system based on least square principle and side length reckoning
CN110288581A (en) * 2019-06-26 2019-09-27 电子科技大学 A kind of dividing method based on holding shape convexity Level Set Models
CN110288699A (en) * 2019-06-26 2019-09-27 电子科技大学 A kind of three-dimensional rebuilding method based on structure light
CN110288581B (en) * 2019-06-26 2022-11-04 电子科技大学 Segmentation method based on model for keeping shape convexity level set
CN110349251B (en) * 2019-06-28 2020-06-16 深圳数位传媒科技有限公司 Three-dimensional reconstruction method and device based on binocular camera
CN110349251A (en) * 2019-06-28 2019-10-18 深圳数位传媒科技有限公司 A kind of three-dimensional rebuilding method and device based on binocular camera
CN110414435A (en) * 2019-07-29 2019-11-05 深兰科技（上海）有限公司 The generation method and equipment of three-dimensional face data based on deep learning and structure light
CN110926371A (en) * 2019-11-19 2020-03-27 宁波舜宇仪器有限公司 Three-dimensional surface detection method and device
CN110910506A (en) * 2019-12-03 2020-03-24 江苏集萃华科智能装备科技有限公司 Three-dimensional reconstruction method and device based on normal detection, detection device and system
CN111127633A (en) * 2019-12-20 2020-05-08 支付宝(杭州)信息技术有限公司 Three-dimensional reconstruction method, apparatus, and computer-readable medium
CN111063016A (en) * 2019-12-31 2020-04-24 螳螂慧视科技有限公司 Multi-depth lens face modeling method and system, storage medium and terminal
CN111275776A (en) * 2020-02-11 2020-06-12 北京淳中科技股份有限公司 Projection augmented reality method and device and electronic equipment
CN111462331A (en) * 2020-03-31 2020-07-28 四川大学 Method for expanding epipolar geometry and calculating three-dimensional point cloud in real time
CN112509138A (en) * 2020-12-11 2021-03-16 电子科技大学 Indoor plastering robot high-precision three-dimensional reconstruction system based on LCOS
CN112967398A (en) * 2021-03-01 2021-06-15 北京奇艺世纪科技有限公司 Three-dimensional data reconstruction method and device and electronic equipment
CN113074661A (en) * 2021-03-26 2021-07-06 华中科技大学 Projector corresponding point high-precision matching method based on polar line sampling and application thereof
CN113074661B (en) * 2021-03-26 2022-02-18 华中科技大学 Projector corresponding point high-precision matching method based on polar line sampling and application thereof
CN113362447A (en) * 2021-05-25 2021-09-07 天津大学 Surface normal reconstruction fusion system and reconstruction fusion method
CN113362447B (en) * 2021-05-25 2023-04-07 天津大学 Surface normal reconstruction fusion system and reconstruction fusion method
CN113532325A (en) * 2021-06-08 2021-10-22 深圳市格灵精睿视觉有限公司 Dynamic step number phase resolving method, electronic device and computer readable storage medium

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