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基于多鱼眼相机的三维重建
其他题名3D Reconstruction from Multiple Fish-eye Lenses
张海威
学位类型工学硕士
导师胡占义
2008-05-18
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
关键词鱼眼相机系统标定 鱼眼图像匹配 物体分割 三维重建 Calibration Of Fish-eye Camera System Fish-eye Image Matching Object Segmentation 3d Reconstruction
摘要从二维图像恢复三维物体可见表面的几何结构(称为三维重建)是计算机视觉的主要目的之一。三维重建的一个关键步骤—图像对应点的确定也是计算机视觉中的一个基本问题。目前国内外在此领域虽然取得了丰硕的研究成果,但大都集中在透视相机的基础上。而鱼眼图像虽然视场较大但由于具有严重的畸变,所以鱼眼相机很少用于对场景的三维重建。本文在此方面进行了研究和探索,所完成的工作主要有: 1)针对鱼眼相机的大畸变问题,探索了一种在已标定好的鱼眼相机下特征点的匹配策略,该策略不但具有尺度和旋转不变性,对大畸变也有很好的适应性,实验中取得了良好的效果。 2)自主研发了一套四目鱼眼立体视觉系统。研究探讨了多鱼眼相机系统在室内环境下的三维重建问题,包括系统标定,特征匹配,三维重建,物体分割等关键步骤。初步研究结果表明,基于鱼眼相机的三维重建,在保持大视场的同时,同样可以得到比较高的重建精度。
其他摘要3D scene reconstruction from 2D images has been one of the major issues in computer vision for years. And how to find the matching points from the stereo pairs, which is one of the most important steps in 3D reconstruction, is also a basic problem in computer vision. So far, Although fruitful achievements have been obtained in the field, most of them has been focused on linear low-distortion cameras that can be modeled by the pinhole mapping. In recent years, the fisheye lens has received increasing attention and use due to its extremely wide field of view. However, little has been published on stereo reconstruction of fisheye images thanks to the fisheye images several distortion. This thesis is focused on 3D reconstruction from multiple fisheye cameras. The main work can be summarized as: 1) A new feature matching method specially designed for calibrated fisheye cameras is proposed and validated by extensive experiments. 2) Base on the self-developed four fisheye cameras stereo vision system, the main issues in 3D reconstruction from multiple fisheye cameras system, such as system calibrating, feature matching, 3D reconstruction, object segmentation and so on are investigated. Our preliminary experimental results show that our fisheye cameras system not only has a very large view, but it can also achieve relatively accurate 3D reconstruction results.
馆藏号XWLW1267
其他标识符200528014628058
语种中文
文献类型学位论文
条目标识符http://ir.ia.ac.cn/handle/173211/7465
专题毕业生_硕士学位论文
推荐引用方式
GB/T 7714
张海威. 基于多鱼眼相机的三维重建[D]. 中国科学院自动化研究所. 中国科学院研究生院,2008.
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