CASIA OpenIR  > 毕业生  > 硕士学位论文
Alternative TitleStudy on 3D Registration and Integration
Thesis Advisor胡占义
Degree Grantor中国科学院研究生院
Place of Conferral中国科学院自动化研究所
Degree Discipline模式识别与智能系统
Keyword三维实物建模、结构光重建、三角化连接、三维配准、三维融合 3d Modeling Structured-light Based Reconstruction Triangulation 3d Registration 3d Integration
Abstract三维实物建模是当前计算机视觉和图形学的研究热点之一,具有重要的理论价值和广泛的应用前景。本文围绕本组搭建的基于结构光的物体重建系统展开了一些工作,主要工作有:1.利用结构光装置获取的三维点集沿着光栅条纹分布的特点,将离散点集连接成三角网格。该算法简单有效,比较实用。2.提出一种鲁棒的基于图像的三维配准方法。本方法与文献中已有方法相比,主要特点是同时使用灰度相似性和距离作为匹配特征,对初始位置依赖不强。该方法的主要步骤有:首先,在第一幅投影图像中使用基于灰度自相关矩阵的最小特征值的方法检测出具有代表性的角点,然后在另一幅投影图像中用灰度互相关的方法来搜索对应点,最后使用基于匹配点之间的互相关系数和距离的检验方法来剔除误匹配。检验构成分成粗细两个不同阶段,且不同阶段相关系数和距离的阈值不同,其中距离的阈值通过估计距离分布的标准差得到。模拟实验和真实实验表明在上述比较宽松的条件下,这种检验方法较文献中仅依靠相关系数的检验方法能得到更为精确和鲁棒的配准结果。3.实现了文献中基于体的 Consensus Surface 鲁棒性融合算法,并应用到本组构建的基于结构光的物体重建系统中。
Other Abstract3D modeling is a hot topic in both computer vision and computer graphics communities thanks largely to its high academic value and wide applicability. The thesis is focused on image registration and integration, a key part of the structured-light based 3D modeling system in our group. The main works are as follows: 1. A simple approach is proposed for the reconstruction of triangular mesh from the dataset acquired from our structured-light system. The approach is shown rather practical and effective. 2. A new image-based method is proposed for 3D registration. It is mainly characterized by using both intensity similarity and point-to-point distances as the matching features, by which the accurate starting position, usually a requirement in other imaged-based methods, is relaxed. Its main steps are: firstly, on the first projected image, distinctive corner pixels, which act as salient features for subsequent image matching, are detected via the minimal eigenvalue of the auto-correlation matrix; then, on the second projected image, the correspondent pixels are found by cross-correlation; a verification scheme is used to discard the potential mismatches by thresholding the correlation coefficients and point-to-point distances. The verification process is divided into a coarse to fine stages, and in each one of the two stages, the two corresponding thresholds for both correlation coefficients and point-to-point distances are determined differently. Experimental results show the superiority of our proposed verification scheme to the previous one using only correlation coefficients in terms of registration accuracy and robustness. 3. We have implemented the Consensus Surface algorithm, a robust volume based method for 3D integration in the literature. It has been integrated into our structured-light based 3D modeling system.
Other Identifier200228014603550
Document Type学位论文
Recommended Citation
GB/T 7714
李挺. 三维配准和融合研究[D]. 中国科学院自动化研究所. 中国科学院研究生院,2005.
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