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多视点三维重建技术研究
其他题名Study on 3D Reconstruction From Multiple Views
张淮峰
学位类型工学博士
导师吴福朝
2004-05-01
学位授予单位中国科学院研究生院
学位授予地点中国科学院自动化研究所
学位专业模式识别与智能系统
关键词三维重建 三视校正 仿射点对应 分层重建 系统标定 3d Reconstruction Trinocular Rectification Affine Point Correspondence Stratified Reconstruction System Calibration
摘要鲁棒性三维重建算法研究是当前三维计算机视觉研究的焦点之一,其中利用 多幅图像进行三维重建被认为是提高算法鲁棒性的有效途径。本文在图像校正,分层重建和系统标定三个方面进行了比较深入系统的研究,主要工作有:1.提出了一种用于三视图像校正的鲁棒性方法。首先,给出了三视图像校正的充分必要条件,并给出了一种三视图像校正的线性算法,同时对三视校正的自由度问题作了详细的分析。在此基础上,将计算机视觉领域中广泛使用的 RANSAC鲁棒性估计方法应用于三视图像校正过程中,得到了一个鲁棒性强的三视图像校正算法。此外,还给出了三视图像校正中所产生的自由参数的几何意义,由此解决了图像校正中的射影畸变问题。2.提出了一种基于仿射点对应的分层重建方法。所谓仿射点对应是指相差 一个仿射变换的两个空间点集的图像对应。该方法主要分为以下三个步骤:首先,从点对应进行准仿射重建;然后,由准仿射重建后的两个空间点集建立它们之间 的一个三维射影变换。我们发现,该射影变换4个特征向量中,其中一个特征向量必为无穷远平面向量,从而得到仿射重建;最后,从仿射重建所获得的无穷远平面单应矩阵对摄像机内参数进行标定,进而得到度量重建。另外,我们还证明了当摄像机作平面运动时,不可能由仿射点对应进行仿射重建,即摄像机平面运动此时是一种退化运动。3.对基于结构光三维重建系统的系统标定。我们利用三种不同的方法对基于旋转平台的结构光重建系统进行了标定。标定结果表明,尽管基于不动点的方法和基于不动直线的方法具有数学上的完美性,但鲁棒性较经典的坐标变换法一般要差,该项工作对于实际应用具有较大的指导和借鉴意义。
其他摘要The study on robust 3D reconstruction techniques is one of the main research directions in 3D computer vision, and multi-view based reconstruction is considered as the most effective way to increase the robustness aspect. The thesis is focused on robust trinocular image rectification, stratified reconstruction and calibration of a structured light based 3D reconstruction system, the main work is summarized as follows: 1. A robust trinocular rectification method is proposed. At first, the necessary and sufficient condition for trinocular rectification is obtained, and a linear rectification algorithm is proposed. Then a RANSAC based algorithm is introduced, which is shown by experiments to be sufficiently robust. In addition, a geometric interpretation of the 6 free parameters involved is also provided, by which the induced projective distortion is significantly reduced. 2. A new stratified reconstruction algorithm based on affine point correspondences is proposed. The affine point correspondences here mean image correspondences which are projected by two sets of space points related by a general 3D affine transformation. The proposed algorithm consists of the following three main steps: First, the quasi-affine reconstruction is obtained from correspondences of image points; Second, the 3D projective transformation matrix between the two sets of quasi-affinely reconstructed points in the first step is computed. It is proved that among the 4 eigenvectors of this transformation matrix, one eigenvector must correspond to the plane at infinity. By determining this eigenvector, the quasi-affine reconstruction is upgraded to a true affine reconstruction; Third, the camera intrinsic parameters are calibrated from the infinite homography obtained in the second step, and a metric reconstruction is obtained. Moreover, we also prove that if the camera undergoes a planar motion, then the affine reconstruction is impossible. In other words, the planar motion is a kind of degenerate camera motion in this case. 3. Three different system calibration methods are compared for a structured light based 3D reconstruction system. Although the fixed-point based method and the fixed-line based method are elegant from mathematical point of view, the traditional coordinate transformation based method is found be experiments to consistently outperform the other two in term of robustness, hence is highly recommended in real applications.
馆藏号XWLW803
其他标识符803
语种中文
文献类型学位论文
条目标识符http://ir.ia.ac.cn/handle/173211/5808
专题毕业生_博士学位论文
推荐引用方式
GB/T 7714
张淮峰. 多视点三维重建技术研究[D]. 中国科学院自动化研究所. 中国科学院研究生院,2004.
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