CN108805869A - It is a kind of based on the extraterrestrial target three-dimensional reconstruction appraisal procedure of the reconstruction model goodness of fit and application - Google Patents
It is a kind of based on the extraterrestrial target three-dimensional reconstruction appraisal procedure of the reconstruction model goodness of fit and application Download PDFInfo
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Abstract
It is a kind of based on the extraterrestrial target three-dimensional reconstruction appraisal procedure of the reconstruction model goodness of fit and application, it belongs to computer graphics and technical field of computer vision.The present invention solves and assesses the archetype information that needs to rely on existing for conventional method, and assessment is only limitted to the part of reconstruction model, the problem of can not assessing the goodness of fit of Three-dimension Reconstruction Model.The reconstruction model goodness of fit is assessed using the right angle goodness of fit of edge feature fitting a straight line equation and residual error, the depth of parallelism of edge feature straight line, the right angle goodness of fit of edge feature straight line and feature adjacent surface, it is compared to existing method, the appraisal procedure of the present invention is not need to rely on original object information, and application is wider；And the method for the present invention overcome conventional method can only be to limitation that reconstruction model is locally assessed, it can be estimated that the degree of agreement of Three-dimension Reconstruction Model on the whole.Present invention could apply to computer graphics and technical field of computer vision to use.
Description
Technical field
The invention belongs to computer graphics and technical field of computer vision, and in particular to one kind is kissed based on reconstruction model
Right extraterrestrial target three-dimensional reconstruction appraisal procedure and application.
Background technology
Three-dimensional reconstruction is always the very important research contents of computer vision, field of Computer Graphics in recent years, is led to
Each section feature locations for crossing reconstruction model and master mould compare, and can be regarded in computer as the rational basis of object judgement
To feel in several technical research of three-dimensional reconstruction, traditional appraisal procedure is first to be aligned reconstruction image with the curve in original image,
It takes certain partial dot in curve reconstruction to calculate them again and arrives the minimum distance of primitive curve, and then obtain the precision of three-dimensional reconstruction,
This method takes full advantage of the information of archetype, and the deformation extent etc. of reconstructed results can be obtained by precision analysis, to
Target three-dimensional reconstruction is assessed；Although conventional method can assess three-dimensional reconstruction, assessment needs to rely on
Archetype information, therefore application is by certain limitation；And conventional method is only limitted to the side of evaluation reconstruction model part
Edge fitting precision, part plan deformation extent or reconstruct dot density, can not assess the goodness of fit of three-dimensional reconstruction.
Invention content
The purpose of the present invention is needing to rely on archetype information to solve assessment existing for conventional method, and assess only
The problem of being limited to the part of reconstruction model, the goodness of fit of Three-dimension Reconstruction Model can not being assessed.
The present invention adopts the technical scheme that solve above-mentioned technical problem：
A kind of extraterrestrial target three-dimensional reconstruction appraisal procedure based on the reconstruction model goodness of fit, this method the specific steps are：
Step 1: selected section reconstruction point is distinguished around each edge feature straight line of reconstruction model, to the weight of selection
Structure point carries out edge feature fitting a straight line, obtains edge feature straight line group；Calculate the reconstruction point of selection and corresponding characteristic edge
The residual error of edge fitting a straight line equation, to judge the goodness of fit of structural edge；Judge that reconstruction point is quasi- with character pair edge line
The residual absolute value of the difference of equation is closed whether 0~10-2In range；If judging result is 0~10-2In range, two are thened follow the steps,
Otherwise assessment terminates；
Step 2: in the edge feature straight line group of step 1, the parallel of arbitrary two Parallel Signature edge lines is acquired
Whether degree, that is, judge the angle of arbitrary two Parallel Signature edge lines within the scope of ± 3 °；If judging result is in ± 3 ° of models
In enclosing, three are thened follow the steps, otherwise assessment terminates；
Step 3: in the edge feature straight line group of step 1, the right angle of arbitrary two vertical features edge lines is acquired
Whether the property goodness of fit, that is, judge the angle of arbitrary two vertical features edge lines within the scope of 87 °~93 °；If judging result
Within the scope of 87 °~93 °, to then follow the steps four, otherwise assessment terminates；
Step 4: in reconstruction model, selects the partial reconfiguration point of constitutive characteristic adjacent plane to carry out plane fitting, obtain
Any two feature adjacent surface fit Plane equation；According to fit Plane equation, the right angle of any two feature adjacent surface is acquired
Whether the property goodness of fit, that is, judge the angle of any two feature adjacent surface within the scope of 87 °~93 °；If judging result is at 87 °
Within the scope of~93 °, then it is assumed that Three-dimension Reconstruction Model meets the reconstruction requirement of the goodness of fit, and otherwise Three-dimension Reconstruction Model does not meet identical
The reconstruction requirement of degree.
The beneficial effects of the invention are as follows：The present invention provides a kind of extraterrestrial target Three-dimensional Gravities based on the reconstruction model goodness of fit
Appraisal procedure and application are built, the present invention assesses Three-dimensional Gravity using the reconstruction point of selection and the residual error of edge feature fitting a straight line equation
Build the goodness of fit of structural edge；The size for rebuilding structure is assessed using the depth of parallelism and the right angle goodness of fit of edge feature straight line
The goodness of fit；Integral-fit degree is assessed using the right angle goodness of fit of feature adjacent surface, is compared to conventional method, of the invention comments
The method of estimating is not need to rely on original object information, and application is wider；And the method for the present invention overcomes of conventional method
It can be to limitation that reconstruction model is locally assessed；The method of the present invention can be applied to emulating rectangular satellite body and imitating
Struggle against the progress goodness of fit assessment of satellite body surface three dimensional reconstruction in geographical north.
The present invention can evaluate the goodness of fit of three-dimensional reconstruction entirety, fill up to three-dimensional reconstruction result assessment technique
The blank in field.
Description of the drawings
Fig. 1 is a kind of stream of the extraterrestrial target three-dimensional reconstruction appraisal procedure based on the reconstruction model goodness of fit of the present invention
Cheng Tu；
Fig. 2 is the emulation experiment object schematic diagram of the embodiment of the present invention；
Fig. 3 is the three-dimensional dense quality reconstruction figure of emulation experiment of the embodiment of the present invention；
Fig. 4 is that the emulation satellite of the embodiment of the present invention chooses edge feature straight line schematic diagram；
Fig. 5 is the fitting result figure of the edge feature straight line of the embodiment of the present invention；
Fig. 6 is the regression criterion figure of the edge feature straight line of the embodiment of the present invention；
Fig. 7 is the selection figure of the feature adjacent surface of the embodiment of the present invention；
Wherein：White plane 1 and gray plane 2 are mutually characterized adjacent surface；
Fig. 8 is the fitting result figure of the gray plane 2 of the embodiment of the present invention；
Fig. 9 is the regression criterion figure of the gray plane 2 of the embodiment of the present invention；
Figure 10 is the fitting result figure of the white plane 1 of the embodiment of the present invention；
Figure 11 is the regression criterion figure of the white plane 1 of the embodiment of the present invention.
Specific implementation mode
Technical scheme of the present invention is further described below in conjunction with the accompanying drawings, however, it is not limited to this, every to this
Inventive technique scheme is modified or replaced equivalently, and without departing from the spirit of the technical scheme of the invention and range, should all be covered
In protection scope of the present invention.
Specific implementation mode one：Embodiment is described with reference to Fig. 1.Being coincide based on reconstruction model described in present embodiment
The extraterrestrial target three-dimensional reconstruction appraisal procedure of degree, this method the specific steps are：
Step 1: selected section reconstruction point is distinguished around each edge feature straight line of reconstruction model, to the weight of selection
Structure point carries out edge feature fitting a straight line, obtains edge feature straight line group；Calculate the reconstruction point of selection and corresponding characteristic edge
The residual error of edge fitting a straight line equation, to judge the goodness of fit of structural edge；Judge that reconstruction point is quasi- with character pair edge line
The residual absolute value of the difference of equation is closed whether 0~10-2In range；If judging result is 0~10-2In range, two are thened follow the steps,
Otherwise assessment terminates；
Step 2: in the edge feature straight line group of step 1, the parallel of arbitrary two Parallel Signature edge lines is acquired
Whether degree, that is, judge the angle of arbitrary two Parallel Signature edge lines within the scope of ± 3 °；If judging result is in ± 3 ° of models
In enclosing, three are thened follow the steps, otherwise assessment terminates；
Step 3: in the edge feature straight line group of step 1, the right angle of arbitrary two vertical features edge lines is acquired
Whether the property goodness of fit, that is, judge the angle of arbitrary two vertical features edge lines within the scope of 87 °~93 °；If judging result
Within the scope of 87 °~93 °, to then follow the steps four, otherwise assessment terminates；
Step 4: in reconstruction model, selects the partial reconfiguration point of constitutive characteristic adjacent plane to carry out plane fitting, obtain
Any two feature adjacent surface fit Plane equation；According to fit Plane equation, the right angle of any two feature adjacent surface is acquired
Whether the property goodness of fit, that is, judge the angle of any two feature adjacent surface within the scope of 87 °~93 °；If judging result is at 87 °
Within the scope of~93 °, then it is assumed that Three-dimension Reconstruction Model meets the reconstruction requirement of the goodness of fit, and otherwise Three-dimension Reconstruction Model does not meet identical
The reconstruction requirement of degree.
Step one to step 4 in present embodiment is to assess four aspects of the Three-dimension Reconstruction Model goodness of fit.Due to mesh
The profile portion of front space aircraft is mostly regular geometric body, when the specific standards model that can not learn space reconstruction target
When, it is of the invention to be assessed according only to reconstructed results based on the appraisal procedure of the reconstruction model goodness of fit, it makes full use of
Symmetrical structure in reconstruction model.
If the reconstruction point is derived from around this feature edge line, this feature edge line is that the reconstruction point is corresponding
Edge feature straight line.
Specific implementation mode two：Present embodiment is to a kind of sky based on the reconstruction model goodness of fit described in embodiment one
Between target three-dimensional reconstruction appraisal procedure further limited, in present embodiment in step 1 to the reconstruction point of selection carry out
The detailed process of edge feature fitting a straight line is：
N reconstruction point is randomly selected around edge feature straight line AB as observation point, the coordinate value of i-th of observation point is
(xi,yi,zi), i=1,2 ... n；Choose (x0,y0,z0) it is characterized the coordinate of point in the fit equation of edge line AB, whereinThe matrix that the coordinate composition n × 3 of n observation point is tieed upThe direction vector of fit characteristic edge line is obtained by all observation point singular value decompositions；
The detailed process of all observation point singular value decompositions is：Matrix A AHCharacteristic value be λ1, λ2And λ3, wherein：AHFor square
The associate matrix of battle array A, then observation point singular value σ1、σ2And σ3RespectivelyWith
That is the direction vector of fit characteristic edge line ABFor (σ1,σ2,σ3), then the table of fit characteristic edge line AB
It is up to formula：
Similarly, all edge feature straight lines are fitted to get to edge feature straight line group.
Specific implementation mode three：Present embodiment is to a kind of sky based on the reconstruction model goodness of fit described in embodiment two
Between target three-dimensional reconstruction appraisal procedure further limited, reconstruction point and corresponding feature in step 1 in present embodiment
The residual error of edge lines fitting equation isOr
For any one edge feature straight line, each reconstruct of current signature edge line and corresponding selection is calculated separately out
The residual absolute value of the difference of point, compares between each reconstruction point, obtains the corresponding residual absolute value of current signature edge line
Maximum value；Similarly, the maximum value of the residual absolute value of each edge feature line correspondences is calculated separately out, it is straight in each edge feature
It is compared between line, obtains the maximum value of the residual absolute value of edge feature straight line group；The residual error of judging characteristic edge line group
Whether the maximum value of absolute value is 0~10-2In range.
The residual absolute value for finding out every edge feature straight line and corresponding reconstruction point in present embodiment first compares every
The maximum value of the residual absolute value of edge feature line correspondences, then in the residual absolute value of every edge feature line correspondences
Maximum value in, compare maximum residual absolute value maximum value, i.e., maximum residual error in all edge feature straight lines
Absolute value, to judge the value whether 0~10-2In range.
Specific implementation mode four：Present embodiment is to a kind of sky based on the reconstruction model goodness of fit described in embodiment three
Between target three-dimensional reconstruction appraisal procedure further limited, the step two in present embodiment asks arbitrary two parallel spies
The detailed process of the depth of parallelism for levying edge line is：
Assuming that straight line AB and CD are two edge feature straight lines being mutually parallel, and the direction vector of straight line AB and straight line CD
RespectivelyWithThen straight line AB and the angle α of straight line CD are expressed as：
Wherein | AB | and | CD | direction vector is indicated respectivelyWithMould；
Whether the angle α of judging characteristic edge line AB and CD are within the scope of ± 3 °；
Similarly, whether the angle of arbitrary two parallel lines in judging characteristic edge line group is within the scope of ± 3 °.
In present embodiment, if the angle α of the arbitrary two edge feature straight lines being mutually parallel in range ± 3 °,
Illustrate that the depth of parallelism of the edge feature straight line of Three-dimension Reconstruction Model is preferable.
Specific implementation mode five：Present embodiment is to a kind of sky based on the reconstruction model goodness of fit described in embodiment four
Between target three-dimensional reconstruction appraisal procedure further limited, the step three in present embodiment ask arbitrary two it is vertical special
The detailed process of the right angle goodness of fit for levying edge line is：
Assuming that straight line AB and AD are two orthogonal edge feature straight lines, and the direction vector of straight line AB and straight line AD
RespectivelyWithThen the angle β of straight line AB and straight line AD is expressed as：
Wherein | AB | and | AD | direction vector is indicated respectivelyWithMould；
Whether the angle β of judging characteristic edge line AB and AD are within the scope of 87 °~93 °；
Similarly, whether the angle of arbitrary two vertical lines in judging characteristic edge line group is in 87 °~93 ° ranges
It is interior.
In present embodiment, if the angle β of arbitrary two orthogonal edge feature straight lines is in 87 °~93 ° ranges
It is interior, then illustrate that the right angle goodness of fit of the edge feature straight line of Three-dimension Reconstruction Model is preferable.
Specific implementation mode six：Present embodiment is to a kind of sky based on the reconstruction model goodness of fit described in embodiment five
Between target three-dimensional reconstruction appraisal procedure further limited, the specific mistake of plane fitting in the step four in present embodiment
Cheng Wei：
Assuming that plane A and B are two feature adjacent planes on reconstruction model, m reconstruction point is randomly selected on plane A
As observation point, the coordinate value of each observation point is (xj,yj,zj), j=1,2 ..., m, wherein xj, yjAnd zjIt is j-th of observation
The D coordinates value of point；
If the fit Plane equation of plane A is z=b0+b1x+b2Y, wherein：b0, b1 and b2It is the coefficient of fit Plane equation；Then
M reconstruction point of selection and the residual sum of squares (RSS) of fit Plane are
WhenWhen, obtain parameter b in the fit Plane equation of plane A0, b1And b2Value, you can acquire plane A
Fit Plane equation；
The fit Plane equation for similarly acquiring plane B is：Z '=b0′+b1′x+b2′y。
Specific implementation mode seven：Present embodiment is to a kind of sky based on the reconstruction model goodness of fit described in embodiment six
Between target three-dimensional reconstruction appraisal procedure further limited, two feature adjacent surfaces are sought in the step four in present embodiment
The detailed process of the right angle goodness of fit be：
The angle r of two feature adjacent planes A and B on reconstruction model are expressed as：
Whether the angle r of judging characteristic adjacent plane A and B are within the scope of 87 °~93 °；
Similarly, judge the angle of any two feature adjacent surface in reconstruction model whether within the scope of 87 °~93 °.
In present embodiment, if the angle r of the orthogonal feature adjacent surface of any two within the scope of 87 °~93 °,
Then illustrate that the right angle goodness of fit of the feature adjacent surface of Three-dimension Reconstruction Model is preferable.
For any one Three-dimension Reconstruction Model, if the structural edge goodness of fit of current reconstruction model, edge feature straight line
The depth of parallelism, the edge feature straight line right angle goodness of fit and the feature adjacent surface right angle goodness of fit provide allow in the range of,
Then think that current Three-dimension Reconstruction Model meets the reconstruction requirement of the goodness of fit, the goodness of fit of three-dimensional reconstruction is preferable, otherwise, when structure side
The edge goodness of fit, edge feature straight line parallel degree, the edge feature straight line right angle goodness of fit and the feature adjacent surface right angle goodness of fit
In any one when being unsatisfactory for requiring, then it is assumed that current Three-dimension Reconstruction Model does not meet the reconstruction requirement of the goodness of fit.
Specific implementation mode eight：Present embodiment is sharp in present embodiment unlike specific implementation mode one to seven
With it is a kind of based on the extraterrestrial target three-dimensional reconstruction appraisal procedure of the reconstruction model goodness of fit to emulating rectangular satellite body three-dimensional reconstruction
Carry out goodness of fit assessment.
Specific implementation mode nine：Present embodiment is sharp in present embodiment unlike specific implementation mode one to seven
With a kind of three-dimensional to emulation big-dipper satellite body surface based on the extraterrestrial target three-dimensional reconstruction appraisal procedure of the reconstruction model goodness of fit
It rebuilds and carries out goodness of fit assessment.
Embodiment
It 2 to 11 is described further below in conjunction with the accompanying drawings：
Three-dimensional reconstruction is carried out to target, experimental subjects is to emulate rectangular satellite, as shown in Figure 2.Camera and satellite hub phase
Adjust the distance 10.5m, and camera is rotated by 360 ° around center when shooting, and keeps constant with centre distance, and camera optical axis is directed toward defends always
Star center often rotates image of 2 degree of acquisitions.
Several width sequence of pictures are had chosen for the front of satellite, camera parameter is set as focal length 45mm, and field angle is
17.5 degree, image resolution ratio is 2048 × 2048.Dense reconstruction result is obtained, as shown in Figure 3.It can obtain shape and windsurfing portion
Divide information.
It should be noted that, in figure the result is that handled the reconstruction of background interference object, i.e., chaff interferent is after reconstruction herein
Three-dimensional point is deleted in the result.
Edge feature fitting a straight line is carried out to reconstructed results, chooses and emulates rectangular satellite body as feature structure, to it
On edge feature straight line carry out fitting a straight line, as shown in Figure 4.
It chooses 50 observation points respectively on straight line AB, straight line BC, straight line CD and straight line AD and carries out space line fitting.It is empty
Between fitting a straight line result be illustrated in fig. 5 shown below.The following Fig. 6 institutes of regression criterion figure of straight line AB, straight line BC, straight line CD and straight line AD
Show.
By experimental result it is found that emulate the rectangular satellite edge feature straight line goodness of fit preferable.
The calculating of the edge feature straight line group depth of parallelism is carried out to reconstructed results and the edge feature straight line group right angle goodness of fit is commented
Valence：
Have chosen four groups of space line groups, respectively straight line AB and straight line CD groups, straight line BC and straight line AD groups, straight line AB and
Straight line AD groups, straight line CB and straight line CD groups.The direction vector of space line AB, CD, BC and AD, as shown in table 1 below；
1 each space line direction vector of table
It is as shown in table 2 below that two straight line group angles can be obtained.By experimental result it is found that one or two each group space line angles are at this
In literary confining spectrum.Therefore emulating rectangular satellite edge feature straight line has the preferable depth of parallelism, and it is special to emulate rectangular satellite edge
Sign straight line has the preferable right angle goodness of fit.
2 each group space line angle of table
Feature adjacent surface angle calcu-lation is carried out to reconstructed results, chooses and emulates rectangular two feature adjacent surfaces of satellite body,
As shown in Figure 7.
Reject data midpoints in surface fitting result, carry out surface fitting again, observe residual values, and so on until
Appearance point residual values are all met the requirements, and finally obtain the fitting result of the gray plane 2 in feature adjacent surface as shown in Figure 8
Figure, the regression criterion figure of gray plane 2 as shown in Figure 9；The fitting result figure of white plane 1 as shown in Figure 10, such as Figure 11
Shown in white plane 1 regression criterion figure.
The fit surface equation that white plane 1 and gray plane 2 can finally be obtained is respectively：
2.2654x+0.0904y-z+16.2933=0
0.3859x+0.1675y+z+15.4281=0
According to the angle calcu-lation formula of two feature adjacent surfaces, the angle that can obtain white plane 1 and gray plane 2 is
92.3588 degree.It can be obtained according to master mould is measured, former adjacent surface angle is 90 degree, so, the folder of white plane 1 and gray plane 2
For angle size in the range of error allows, i.e. the right angle goodness of fit of feature adjacent surface is preferable.
In conclusion it is straight to emulate the rectangular satellite edge feature straight line goodness of fit, edge feature straight line parallel degree, edge feature
The line right angle goodness of fit and the right angle goodness of fit of feature adjacent surface are preferable, it can be deduced that emulate the three-dimensional reconstruction of rectangular satellite
Effect is preferable.
Claims (9)
1. a kind of extraterrestrial target three-dimensional reconstruction appraisal procedure based on the reconstruction model goodness of fit, which is characterized in that the tool of this method
Body step is：
Step 1: selected section reconstruction point is distinguished around each edge feature straight line of reconstruction model, to the reconstruction point of selection
Edge feature fitting a straight line is carried out, edge feature straight line group is obtained；Reconstruction point and the corresponding edge feature for calculating selection are straight
The residual error of line fit equation, to judge the goodness of fit of structural edge；Judge reconstruction point and character pair edge lines fitting side
Whether the residual absolute value of the difference of journey is 0~10-2In range；If judging result is 0~10-2In range, two are thened follow the steps, otherwise
Assessment terminates；
Step 2: in the edge feature straight line group of step 1, the depth of parallelism of arbitrary two Parallel Signature edge lines is acquired, i.e.,
Judge the angle of arbitrary two Parallel Signature edge lines whether within the scope of ± 3 °；If judging result is within the scope of ± 3 °,
Three are thened follow the steps, otherwise assessment terminates；
Step 3: in the edge feature straight line group of step 1, the right angle kiss of arbitrary two vertical features edge lines is acquired
It is right, that is, judge the angle of arbitrary two vertical features edge lines whether within the scope of 87 °~93 °；If judging result be
Within the scope of 87 °~93 °, four are thened follow the steps, otherwise assessment terminates；
Step 4: in reconstruction model, the partial reconfiguration point of constitutive characteristic adjacent plane is selected to carry out plane fitting, obtained arbitrary
Two feature adjacent surface fit Plane equations；According to fit Plane equation, the right angle kiss of any two feature adjacent surface is acquired
It is right, that is, judge the angle of any two feature adjacent surface whether within the scope of 87 °~93 °；If judging result be 87 °~
Within the scope of 93 °, then it is assumed that Three-dimension Reconstruction Model meets the reconstruction requirement of the goodness of fit, and otherwise Three-dimension Reconstruction Model does not meet the goodness of fit
Reconstruction requirement.
2. a kind of extraterrestrial target three-dimensional reconstruction appraisal procedure based on the reconstruction model goodness of fit according to claim 1,
Be characterized in that, the reconstruction point that selects is carried out in the step 1 detailed process of edge feature fitting a straight line for：
N reconstruction point is randomly selected around edge feature straight line AB as observation point, the coordinate value of i-th of observation point is (xi,
yi,zi), i=1,2 ... n；Choose (x0,y0,z0) it is characterized the coordinate of point in the fit equation of edge line AB, whereinThe matrix that the coordinate composition n × 3 of n observation point is tieed upThe direction vector of fit characteristic edge line is obtained by all observation point singular value decompositions；
The detailed process of all observation point singular value decompositions is：Matrix A AHCharacteristic value be λ1, λ2And λ3, wherein：AHFor matrix A
Associate matrix, then observation point singular value σ1、σ2And σ3RespectivelyWith
That is the direction vector of fit characteristic edge line ABFor (σ1,σ2,σ3), then the expression formula of fit characteristic edge line AB
For：
Similarly, all edge feature straight lines are fitted to get to edge feature straight line group.
3. a kind of extraterrestrial target three-dimensional reconstruction appraisal procedure based on the reconstruction model goodness of fit according to claim 2,
It is characterized in that, reconstruction point is with the residual error of corresponding edge feature fitting a straight line equation in the step 1Or
For any one edge feature straight line, each reconstruction point of current signature edge line and corresponding selection is calculated separately out
Residual absolute value of the difference compares between each reconstruction point, obtains the maximum of the corresponding residual absolute value of current signature edge line
Value；Similarly, the maximum value for calculating separately out the residual absolute value of each edge feature line correspondences, each edge feature straight line it
Between compare, obtain the maximum value of the residual absolute value of edge feature straight line group；The residual error of judging characteristic edge line group is absolute
Whether the maximum value of value is 0~10-2In range.
4. a kind of extraterrestrial target three-dimensional reconstruction appraisal procedure based on the reconstruction model goodness of fit according to claim 3,
It is characterized in that, the detailed process of the depth of parallelism of arbitrary two Parallel Signature edge lines of asking of the step 2 is：
Assuming that straight line AB and CD are two edge feature straight lines being mutually parallel, and the direction vector of straight line AB and straight line CD are distinguished
ForWithThen straight line AB and the angle α of straight line CD are expressed as：
Wherein | AB | and | CD | direction vector is indicated respectivelyWithMould；
Whether the angle α of judging characteristic edge line AB and CD are within the scope of ± 3 °；
Similarly, whether the angle of arbitrary two parallel lines in judging characteristic edge line group is within the scope of ± 3 °.
5. a kind of extraterrestrial target three-dimensional reconstruction appraisal procedure based on the reconstruction model goodness of fit according to claim 4,
It is characterized in that, the detailed process of the right angle goodness of fit of arbitrary two vertical features edge lines of asking of the step 3 is：
Assuming that straight line AB and AD are two orthogonal edge feature straight lines, and the direction vector of straight line AB and straight line AD are distinguished
ForWithThen the angle β of straight line AB and straight line AD is expressed as：
Wherein | AB | and | AD | direction vector is indicated respectivelyWithMould；
Whether the angle β of judging characteristic edge line AB and AD are within the scope of 87 °~93 °；
Similarly, whether the angle of arbitrary two vertical lines in judging characteristic edge line group is within the scope of 87 °~93 °.
6. a kind of extraterrestrial target three-dimensional reconstruction appraisal procedure based on the reconstruction model goodness of fit according to claim 5,
It is characterized in that, the detailed process of plane fitting is in the step 4：
Assuming that plane A and B are two feature adjacent planes on reconstruction model, m reconstruction point conduct is randomly selected on plane A
The coordinate value of observation point, each observation point is (xj,yj,zj), j=1,2 ..., m, wherein xj, yjAnd zjIt is j-th of observation point
D coordinates value；
If the fit Plane equation of plane A is z=b0+b1x+b2Y, wherein：b0, b1And b2It is the coefficient of fit Plane equation；Then
M reconstruction point of selection and the residual sum of squares (RSS) of fit Plane are
WhenWhen, obtain parameter b in the fit Plane equation of plane A0, b1And b2Value, you can acquire plane A
Fit Plane equation；
The fit Plane equation for similarly acquiring plane B is：Z '=b0′+b1′x+b2′y。
7. a kind of extraterrestrial target three-dimensional reconstruction appraisal procedure based on the reconstruction model goodness of fit according to claim 6,
It is characterized in that, asks the detailed process of the right angle goodness of fit of two feature adjacent surfaces to be in the step 4：
The angle r of two feature adjacent planes A and B on reconstruction model are expressed as：
Whether the angle r of judging characteristic adjacent plane A and B are within the scope of 87 °~93 °；
Similarly, judge the angle of any two feature adjacent surface in reconstruction model whether within the scope of 87 °~93 °.
8. the application of any claim the method in a kind of claim 1 to 7, which is characterized in that utilize the method pair
It emulates rectangular satellite body three-dimensional reconstruction and carries out goodness of fit assessment.
9. the application of any claim the method in a kind of claim 1 to 7, which is characterized in that utilize the method pair
It emulates big-dipper satellite body surface three-dimensional reconstruction and carries out goodness of fit assessment.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810601557.9A CN108805869A (en) | 2018-06-12 | 2018-06-12 | It is a kind of based on the extraterrestrial target three-dimensional reconstruction appraisal procedure of the reconstruction model goodness of fit and application |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810601557.9A CN108805869A (en) | 2018-06-12 | 2018-06-12 | It is a kind of based on the extraterrestrial target three-dimensional reconstruction appraisal procedure of the reconstruction model goodness of fit and application |
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| WO2017028961A1 (en) * | 2015-08-14 | 2017-02-23 | Thomson Licensing | 3d reconstruction of a human ear from a point cloud |
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