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Research and Application of 3D Reconstruction on Moving Vehicle Based on Binocular Stereo Vision

Author: RenRanRan
Tutor: ZhuChengHui
School: Hefei University of Technology
Course: Detection Technology and Automation
Keywords: Computer Vision Camera Calibration Image Segmentation Stereo matching Parallax Three-dimensional reconstruction
CLC: TP391.41
Type: Master's thesis
Year: 2010
Downloads: 128
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Abstract


Stereo vision technology is a multi-disciplinary field, is an important symbol of the intelligent robot. Binocular stereo vision technology is an important branch of stereo vision technology, has been applied to medical image processing, multimedia technology, remote sensing image analysis, industrial inspection, with the military and other fields. A binocular stereo vision system include: image acquisition, camera calibration, image pre-processing and feature extraction, stereo matching, as well as three-dimensional reconstruction. This article by binocular stereo vision technology, applications and lay the basis for the mobile robot using Zhuangkao process instead of human examiner. The main subject of the work are as follows: 1. 1D calibration object-based binocular camera calibration algorithm. One-dimensional calibration was fixed at one end, the other end for any angle of rotation, camera picture above 6, to take advantage of the location of the point on the calibration object relations and linear constraints, solving linear equations can be created out of the camera's internal parameters . Simulation results show that the method is effective and feasible. 2. Matching algorithm based on three-dimensional image segmentation. Bleyer algorithm framework based on, the template calculation, as well as the global energy function select improved. Using reliable strike plane template parameters for each divided region, to construct a new matching cost formula and according to the characteristic point unreliable, fused to the adjacent area. Construct a global energy function, the initial disparity range of items as a constraint in the global energy function using graph cut algorithm to strike a global minimum energy the parallax optimal allocation. The simulation results show that the algorithm of low texture areas and mask areas have good matches, and has high matching accuracy and good real-time characteristics. 3 three-dimensional reconstruction algorithm based on binocular vision. Bifacial straight common perpendicular midpoint method as the method of calculation of the three-dimensional coordinates of points in space, because the algorithm takes into account the geometric meaning of linear equations, which improves solution accuracy of the spatial coordinates. The simulation results demonstrate the high accuracy of the bifacial common perpendicular midpoint method than the method of least squares straight line. Finally, the whole process of the three-dimensional reconstruction of the actual objects, and application of Matlab programming simulation experiment. The results show that the three-dimensional reconstruction of the model reflects the geometric characteristics of the moving vehicle.

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CLC: > Industrial Technology > Automation technology,computer technology > Computing technology,computer technology > Computer applications > Information processing (information processing) > Pattern Recognition and devices > Image recognition device
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