CN105374067A - Three-dimensional reconstruction method based on PAL cameras and reconstruction system thereof - Google Patents
Three-dimensional reconstruction method based on PAL cameras and reconstruction system thereof Download PDFInfo
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- CN105374067A CN105374067A CN201510654666.3A CN201510654666A CN105374067A CN 105374067 A CN105374067 A CN 105374067A CN 201510654666 A CN201510654666 A CN 201510654666A CN 105374067 A CN105374067 A CN 105374067A
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Abstract
The invention provides a three-dimensional reconstruction system and reconstruction method based on PAL cameras. The reconstruction system comprises two industrial cameras respectively provided with a PAL lens, the two PAL lenses are arranged in a perpendicular manner, and the two industrial cameras are connected with a computer through USB data wires. The three-dimensional reconstruction method comprises the following steps of: arranging the two industrial cameras respectively provided with one PAL lens in the perpendicular manner and connecting the two industrial cameras with the computer; b, using the industrial cameras to collect image data, and transmitting the image data to the computer; c, carrying out processing and calculation on the image data, and obtaining optical characteristic relations of the cameras; d, correcting image distortion based on the optical characteristic relations of the cameras; e, utilizing a dynamic programming algorithm to match two images obtained by shooting; f, converting points of a panoramic image in a cylindrical coordinate system into points in a three-dimensional coordinate system; and g, drawing a three-dimensional scene to be reconstructed. The three-dimensional reconstruction system and reconstruction method have the advantages that the structure is simple, the operation speed is high, and the system and the method are applicable to the reconstruction of a large-range scene.
Description
Technical field
The present invention relates to image processing field, be specifically related to a kind of three-dimensional rebuilding method based on PAL camera and reconstructing system thereof.
Background technology
Three-dimensional reconstruction refers to sets up to three-dimensional body the mathematical model being applicable to computer representation and process, is to process three-dimensional body under computer environment, operate and the basis of analytical property, is also the gordian technique setting up virtual reality in a computer.
Three-dimensional reconstruction, as one of the research direction of computer vision, is exactly the inspiration by human eye, first utilizes digital sensing equipment to take object, and then utilizing computing machine to process shooting image, is finally the three-dimensional information in order to obtain object.Use video camera (separate unit or multiple stage) from different angle shot jobbies, by process shooting image, reconstruct the three-dimensional model of object, Here it is based on the three-dimensional reconstruction of image.This technology is called as the modeling technique based on image in graphics field, mainly from image or video, carrys out the three-dimensional model of re-construct, is the study hotspot of current computer graphics.
Stereo visual system is the important means of mobile robot's perception environment, and it can complete and keep away barrier, target identification, the particular tasks such as object tracking by auxiliary moving robot.Apply widely although the three-dimensional reconstruction based on image has achieved in a lot of field, this technology still also exists some difficult points and problem in the process realized.
Current, domestic and international researchist mainly studies three aspects: efficiency, accuracy and robustness.
First be modeling efficiency.The improvement of efficiency can be embodied in two aspects: one is hardware aspect, has been integrated with a large amount of image processing functions in present video camera, and this just accelerates the processing speed to image.Meanwhile, the renewal of computer hardware is very fast, carries out with molar rate, and this be that the operational efficiency of algorithm provides good condition, but, be only can't meet demand to raising modeling efficiency in the improvement of hardware aspect.The most basic settling mode is the speed will accelerating modeling algorithm.Therefore, the real modeling efficiency that improves needs from simplification, composition model algorithm, reduces the aspects such as the Space-time Complexity of algorithm and sets about.
Next is modeling accuracy.At present, people utilize the model of Practical computer teaching also not reach the degree of mixing the spurious with the genuine, and this just tells us the importance of modeling accuracy.To a certain extent, modeling accuracy does not mean that whole reconstruction is all insignificant in higher position.How to improve modeling accuracy, make the unlimited approaching to reality scene of the model of reconstruction also be urgent problem.
Finally also has universality.Three-dimensional reconstruction is developed so far, and has had a variety of method, but can find, time often kind of method has it not to be suitable for, this will bring a lot of trouble in the application of reality, seriously limits the range of application of certain method for reconstructing.Therefore, in the urgent need to proposing the three-dimensional modeling method that has general applicability, but this is quite difficult.
Summary of the invention
The object of the invention is to for above-mentioned the problems of the prior art, provide a kind of three-dimensional rebuilding method based on PAL camera and reconstructing system thereof, the composition of this system is simple, and camera difficulty of matching is little, fast operation, is applicable to scene rebuilding on a large scale.
To achieve these goals, the present invention is based on the three-dimensional rebuilding method of PAL camera, comprise the following steps:
A. will be separately installed with two industrial camera vertical runs of PAL camera lens and be connected with computing machine;
B. computing machine is transferred to by industrial camera acquisition of image data;
C. computing machine is by calculating image real time transfer, obtains the optical characteristics relation of industrial camera;
D. according to the optical characteristics relation of industrial camera, computing machine corrects pattern distortion;
E. adopt dynamic programming algorithm to take to two industrial cameras the two width images obtained to mate;
F. by calculating, the point in cylindrical-coordinate system in panoramic picture being transformed in three-dimensional system of coordinate, obtaining three-dimensional coordinate point;
G. the three-dimensional coordinate point that goes out of draw calculation, namely obtains the three-dimensional scenic that will rebuild.
In described step b, industrial camera gathers 360 ° of scope scene image data and transfers to computing machine, obtains panoramic image parameters method as follows:
With (0,0) for true origin sets up image coordinate system, (X
c, Y
c) be the coordinate of the center of circle in image coordinate system of panoramic ring image inside and outside circle, R represents the internal diameter of annular image, the external diameter of R ' expression annular image, if (X, Y) be the coordinate of pixel Q, r is the center of circle (X of the distance of a Q to annular image inner circle border, inside and outside circle
c, Y
c) with pixel Q angulation be θ, in image, the value of corresponding four direction θ is respectively 0 °, 90 °, 180 °, 270 ° up and down;
In described step c, first computing machine by original image gray processing, obtains gray level image, then by Binary Sketch of Grey Scale Image, then carries out burn into expansion, after scanning boundary point, adopts the center of circle and the radius of least square fitting inside and outside circle.
The computing method obtaining industrial camera optical characteristics relation in described step c are:
The object that equidistant vertical calibrating crosses is taken by industrial camera, wherein, the elevation angle of industrial camera is α, horizontal range to object is d, suppose the elevation angle of industrial camera for the height can taken during α be h, angle of elevation alpha, the horizontal range d and height h of industrial camera just constitute a right-angle triangle, can obtain according to triangle relation:
α＝arctan(h/d)
Due to, industrial camera is obtained to the horizontal range d of object by actual measurement; At the equidistant mark of body surface, according to the panoramic picture that industrial camera photographs, observe the number marked in image, distance between incorporation of markings, namely can know the shooting height h of industrial camera, and shooting height h is different, corresponding angle of elevation alpha is also different, utilize the angle of elevation alpha of least square fitting camera and the relation of r/R, just can obtain the relational expression between them, this formula is also referred to as optical characteristics formula.
The method that described step f obtains cylindrical-coordinate system parameter is: the object P simultaneously taken for two industrial cameras, first camera A is positioned at top, the elevation angle is α, second camera B is positioned at below, the elevation angle is β, vertical range between two cameras is b [m], and camera is d [m] to the horizontal range of object P, and the vertical range between object P and camera A is h [m];
Wherein, the angle of elevation alpha of first camera A, the vertical range h of horizontal range d and object P to camera A constitute a right-angle triangle, the vertical range h+b of elevation angle β, the horizontal range d of second camera B and object P to camera B also constitutes a right-angle triangle, and the spacing b between known two cameras, following formula is obtained according to triangulation relation
Combination type 1. in two formulas, obtain the expression formula of camera to the horizontal range d of object,
Obtained the distance of two pixels to inner circle border of coupling mutually by dynamic programming algorithm, then in conjunction with formula, calculate the angle of elevation alpha of first camera A and the elevation angle β of second camera B, like this, according to formula 2., just can calculate d.
In described step e with the position line of image for characteristic element, with 1 ° for increments, utilize dynamic programming algorithm to mate two width images.
Point in cylindrical-coordinate system is transformed in three-dimensional system of coordinate by described step f, and the method obtaining three-dimensional coordinate point is:
Suppose the three-dimensional coordinate that (x, y, z) is spatial point, this point and industrial camera angulation are α, and this point is in xoy plane
Projection and x-axis angulation be θ, known industrial camera is d to the horizontal range of object, then by formula,
Calculate the three-dimensional coordinate for spatial point (x, y, z).
The present invention is based on the three-dimensional reconstruction system of PAL camera, comprise two industrial cameras being separately installed with PAL camera lens, two described PAL camera lens vertical runs, two industrial cameras connect computing machine by data line; Computing machine reads the view data that industrial camera collects, and by processing the three-dimensional scenic obtaining rebuilding to view data.
Described data line adopts USB USB (universal serial bus).
Compared with prior art, method for reconstructing of the present invention will be provided with two industrial camera vertical runs of PAL camera lens, because can camera calibration be simplified when camera is vertical, thus improve precision and the arithmetic speed of coupling, so only namely can carry out three-dimensional reconstruction to 360 ° of environment in around scene with two panorama cameras, avoid the problems such as multiple camera calibration in traditional three-dimensional rebuilding method is numerous and diverse.The present invention corrects pattern distortion according to the optical characteristics relation of industrial camera, adopts dynamic programming algorithm to take to two industrial cameras the two width images obtained and mates, and quick, high-precisionly can realize shooting environmental panorama and rebuild.The present invention is applicable to camera erection difficulty and waits environment, can be applied to accident, love scene fast restore and analysis.
Further, the present invention for increments, utilizes dynamic programming algorithm to mate the two width images that industrial camera obtains with 1 °, has 360 position line to need coupling, almost can travel through entire image in two width images.
Compared with prior art, reconstructing system of the present invention carries out three-dimensional reconstruction based on two PAL panorama cameras, avoid in conventional three-dimensional method for reconstructing and need to use multiple cameras to take Same Scene, need to carry out complicated demarcation in image processing process, and the problem that calculated amount is large, the present invention only needs two PAL panorama cameras namely can carry out three-dimensional reconstruction to 360 ° of environment in around scene, the panoramic picture collected is transferred to computing machine by two industrial cameras, computing machine, to after correct image, can access reconstruction image.Reconstructing system of the present invention is verified by experiment, and error, within 10cm, is rebuild effective.
Accompanying drawing explanation
Fig. 1 three-dimensional reconstruction system structural representation of the present invention;
Fig. 2 three-dimensional rebuilding method overall flow figure of the present invention;
Position relationship schematic diagram in Fig. 3 panoramic picture;
Fig. 4 the present invention obtains panoramic image parameters method flow diagram;
Fig. 5 the present invention two industrial camera camera site schematic diagram;
Fig. 6 cylindrical-coordinate system Modling model of the present invention schematic diagram;
The image in Fig. 7 the present invention two industrial camera real scene shooting laboratories: (a) epigraph; (b) hypograph;
The metope image of the equidistant demarcation of Fig. 8;
Fig. 9 optical indicatrix matched curve figure;
Original panoramic images before Figure 10 distortion correction;
Original panoramic images before Figure 11 distortion correction 360 ° of stretch-out views;
Image after Figure 12 partial optical corrects;
Figure 13 three-dimensional reconstruction result schematic diagram: (a) visual angle up time; B () visual angle is when side; C () visual angle is when inside;
Figure 14 high accuracy three-dimensional reconstructed results schematic diagram:
(a) visual angle up time; B () visual angle is when side; C () visual angle is when inside.
Embodiment
See Fig. 1, the present invention is based on the three-dimensional reconstruction system of PAL camera, comprise two industrial cameras 1 being separately installed with PAL camera lens 2, two PAL camera lens 2 vertical runs, two industrial cameras 1 connect computing machine 3 by USB USB (universal serial bus), and computing machine 3 reads data that industrial camera 1 collects and processes image.
See Fig. 2, the present invention is based on the three-dimensional rebuilding method of PAL camera, comprise the following steps:
A. will be separately installed with two industrial camera 1 vertical runs of PAL camera lens 2 and be connected with computing machine 3;
B. computing machine 3 is transferred to by industrial camera 1 acquisition of image data;
C. computing machine 3 is by calculating image real time transfer, obtains the optical characteristics relation of industrial camera 1;
D. according to the optical characteristics relation of industrial camera 1, computing machine 3 pairs of pattern distortions correct;
E. adopt dynamic programming algorithm to take to two industrial cameras 1 the two width images obtained to mate;
F. by calculating, the point in cylindrical-coordinate system in panoramic picture being transformed in three-dimensional system of coordinate, obtaining three-dimensional coordinate point;
G. the three-dimensional coordinate point that goes out of draw calculation, namely obtains the three-dimensional scenic that will rebuild.
See Fig. 3,4, industrial camera 1 gathers 360 ° of scope scene image data and transfers to computing machine 3, obtains panoramic image parameters method as follows: with (0,0) for true origin sets up image coordinate system, (X
c, Y
c) be the coordinate of the center of circle in image coordinate system of panoramic ring image inside and outside circle, R represents the internal diameter of annular image, the external diameter of R ' expression annular image, if (X, Y) be the coordinate of pixel Q, r is the center of circle (X of the distance of a Q to annular image inner circle border, inside and outside circle
c, Y
c) with pixel Q angulation be θ, in image, the value of corresponding four direction θ is respectively 0 °, 90 °, 180 °, 270 ° up and down;
First computing machine 3 by original image gray processing, obtains gray level image, then by Binary Sketch of Grey Scale Image, then carries out burn into expansion, after scanning boundary point, adopts the center of circle and the radius of least square fitting inside and outside circle.
See Fig. 5, for the object P that two industrial cameras 1 are taken simultaneously, first camera A is positioned at top, the elevation angle is α, second camera B is positioned at below, and the elevation angle is β, and the vertical range between two cameras is b [m], camera is d [m] to the horizontal range of object P, and the vertical range between object P and camera A is h [m];
Wherein, the angle of elevation alpha of first camera A, the vertical range h of horizontal range d and object P to camera A constitute a right-angle triangle, the vertical range h+b of elevation angle β, the horizontal range d of second camera B and object P to camera B also constitutes a right-angle triangle, and the spacing b between known two cameras, following formula is obtained according to triangulation relation
Combination type 1. in two formulas, obtain the expression formula of camera to the horizontal range d of object,
The distance of two pixels to inner circle border of coupling is mutually obtained by dynamic programming algorithm DP on operational research (dynamicprogramming), again in conjunction with formula, calculate the angle of elevation alpha of first camera A and the elevation angle β of second camera B, like this, according to formula 2., the horizontal range d of industrial camera 1 to object can just be calculated.
See Fig. 6, the method obtaining three-dimensional coordinate point is:
Suppose the three-dimensional coordinate that (x, y, z) is spatial point, this point and industrial camera 1 angulation are α, and this projection in xoy plane and x-axis angulation are θ, and known industrial camera 1 is d to the horizontal range of object, then by formula,
Calculate the three-dimensional coordinate for spatial point (x, y, z).
Experiment employing two PAL panorama cameras are taken laboratory, the size in laboratory is 850cm × 420cm × 320cm, to be 2272pixel × 1704pixel, Fig. 7 (a) middle with Fig. 7 (b) that what show is the two width panoramic pictures taken by about two the vertical PAL panorama cameras placed for the image pixel of shooting gained.Fig. 7 (a) is the image of the panorama camera shooting gained being positioned at top, is called epigraph.Fig. 7 (b) is the panoramic picture of the panorama camera shooting gained being positioned at below, is called hypograph.
According to the method for the determination PAL camera optics characteristic type introduced above, the wall of reciprocity distance calibration is taken, and the image of shooting gained as shown in Figure 8.
In Fig. 7 (a) and Fig. 7 (b), 12 directions are the metopes of equidistant demarcation, and then matching optical characteristics obtains optical characteristics matched curve as shown in Figure 9.
Utilize the angle of elevation alpha of least square fitting camera and the relation of r/R, just can obtain PAL camera optics characteristic type, the optical characteristics of PAL camera can also correct the distortion after panoramic picture expansion, contrast Figure 10 and Figure 11, what upper figure showed is panoramic picture and carries out the design sketch after 360 ° of expansion to panoramic picture.Wherein Figure 10 is original image, and Figure 11 carries out the design sketch after 360 ° of expansion to original image.Observe Figure 11 can find, after original image is launched, there is more serious distortion in blank part from Figure 11, there is severe bends in blank top part, the optical characteristics of panorama camera is utilized to correct this fractional distortion, correct result as shown in figure 12, blank sweep has obtained good calibration result as seen from the figure, it can be said that bright optical characteristics can improve pattern distortion really.
Then, DP matching algorithm is adopted to mate 100,000 pixels in two width panoramic pictures, and calculate three dimensional space coordinate corresponding to this 100,000 pixels according to the relation of triangulation and the position relationship of cylindrical-coordinate system, the reconstructed results obtained is as Figure 13 (a), shown in Figure 13 (b), Figure 13 (c).
Figure 13 (a), Figure 13 (b), the rectangular parallelepiped that in Figure 13 (c), solid line represents is the actual size in laboratory, and can be obtained by manual measurement, the point inside and outside rectangular parallelepiped is the three dimensional space coordinate obtained after calculating the pixel in image.The effect that Figure 13 (a) shows above laboratory for visual angle, the effect that Figure 13 (b) shows in the side in laboratory for visual angle, Figure 13 (c), for visual angle is in the effect of the interior display in laboratory, shows the effect of three-dimensional reconstruction respectively from three angles.
From Figure 13 (a), Figure 13 (b), find out in Figure 13 (c), some point is in the outside of rectangular parallelepiped, and the error obviously after these some reconstructions is comparatively large, is unfavorable for improving precision.In order to improve reconstruction accuracy, these 100,000 points being screened, selecting 60,000 points wherein to re-start three-dimensional reconstruction, the three-dimensional information of acquisition as Figure 14 (a), Figure 14 (b), shown in Figure 14 (c).
Figure 14 (a), Figure 14 (b), the rectangular parallelepiped that in Figure 14 (c), solid line represents is the actual size in laboratory, and the point inside and outside rectangular parallelepiped is the three dimensional space coordinate obtained after calculating the pixel in image.Figure 14 (a) is for visual angle is above laboratory, and Figure 14 (b) is for visual angle is in the side in laboratory, and Figure 14 (c), for visual angle is in the inside in laboratory, shows 3-D effect from three angles respectively.Figure 14 (a), Figure 14 (b), the three-dimensional information in Figure 14 (c) is all more accurate.Experiment shows, enter the error of distance that the capable three-dimensional reconstruction of aa calculates and actual range within 10cm by these 60,000 points, reconstruction precision is higher.
Claims (8)
1. based on a three-dimensional rebuilding method for PAL camera, it is characterized in that, comprise the following steps:
A. will be separately installed with two industrial camera (1) vertical runs of PAL camera lens (2) and be connected with computing machine (3);
B. pass through industrial camera (1) acquisition of image data and transfer to computing machine (3);
C. computing machine (3) is by calculating image real time transfer, obtains the optical characteristics relation of industrial camera (1);
D. according to the optical characteristics relation of industrial camera (1), computing machine (3) corrects pattern distortion;
E. dynamic programming algorithm is adopted to mate the two width images that the shooting of two industrial cameras (1) obtains;
F. by calculating, the point in cylindrical-coordinate system in panoramic picture being transformed in three-dimensional system of coordinate, obtaining three-dimensional coordinate point;
G. the three-dimensional coordinate point that goes out of draw calculation, namely obtains the three-dimensional scenic that will rebuild.
2. the three-dimensional rebuilding method based on PAL camera according to claim 1, it is characterized in that, in described step b, industrial camera (1) gathers 360 ° of scope scene image data and transfers to computing machine (3), obtains panoramic image parameters method as follows:
With (0,0) for true origin sets up image coordinate system, (X
c, Y
c) be the coordinate of the center of circle in image coordinate system of panoramic ring image inside and outside circle, R represents the internal diameter of annular image, the external diameter of R ' expression annular image, if (X, Y) be the coordinate of pixel Q, r is the center of circle (X of the distance of a Q to annular image inner circle border, inside and outside circle
c, Y
c) with pixel Q angulation be θ, in image, the value of corresponding four direction θ is respectively 0 °, 90 °, 180 °, 270 ° up and down;
In described step c, computing machine (3), first by original image gray processing, obtains gray level image, then by Binary Sketch of Grey Scale Image, then carries out burn into expansion, after scanning boundary point, adopts the center of circle and the radius of least square fitting inside and outside circle.
3. the three-dimensional rebuilding method based on PAL camera according to claim 1, is characterized in that, the computing method obtaining industrial camera (1) optical characteristics relation in described step c are:
The object that equidistant vertical calibrating crosses is taken by industrial camera (1), wherein, the elevation angle of industrial camera (1) is α, horizontal range to object is d, suppose the elevation angle of industrial camera (1) for the height can taken during α be h, angle of elevation alpha, the horizontal range d and height h of industrial camera (1) just constitute a right-angle triangle, can obtain according to triangle relation:
α＝arctan(h/d)
Due to, industrial camera (1) is obtained to the horizontal range d of object by actual measurement; At the equidistant mark of body surface, according to the panoramic picture that industrial camera (1) photographs, observe the number marked in image, distance between incorporation of markings, namely can know the shooting height h of industrial camera (1), and shooting height h is different, corresponding angle of elevation alpha is also different, utilize the angle of elevation alpha of least square fitting camera and the relation of r/R, just can obtain the relational expression between them, this formula is also referred to as optical characteristics formula.
4. the three-dimensional rebuilding method based on PAL camera according to claim 1, it is characterized in that, the method that described step f obtains cylindrical-coordinate system parameter is: the object P simultaneously taken for two industrial cameras (1), first camera A is positioned at top, the elevation angle is α, second camera B is positioned at below, the elevation angle is β, vertical range between two cameras is b [m], camera is d [m] to the horizontal range of object P, and the vertical range between object P and camera A is h [m];
Wherein, the angle of elevation alpha of first camera A, the vertical range h of horizontal range d and object P to camera A constitute a right-angle triangle, the vertical range h+b of elevation angle β, the horizontal range d of second camera B and object P to camera B also constitutes a right-angle triangle, and the spacing b between known two cameras, following formula is obtained according to triangulation relation
Combination type 1. in two formulas, obtain the expression formula of camera to the horizontal range d of object,
Obtained the distance of two pixels to inner circle border of coupling mutually by dynamic programming algorithm, then in conjunction with formula, calculate the angle of elevation alpha of first camera A and the elevation angle β of second camera B, like this, according to formula 2., just can calculate d.
5. the three-dimensional rebuilding method based on PAL camera according to claim 1, is characterized in that: in described step e with the position line of image for characteristic element, with 1 ° for increments, utilize dynamic programming algorithm to mate two width images.
6. the three-dimensional rebuilding method based on PAL camera according to claim 1, is characterized in that, the point in cylindrical-coordinate system is transformed in three-dimensional system of coordinate by described step f, and the method obtaining three-dimensional coordinate point is:
Suppose the three-dimensional coordinate that (x, y, z) is spatial point, this point and industrial camera (1) angulation are α, and this projection in xoy plane and x-axis angulation are θ, and known industrial camera (1) is d to the horizontal range of object, then pass through formula
Calculate the three-dimensional coordinate for spatial point (x, y, z).
7. one kind realizes the three-dimensional reconstruction system of the three-dimensional rebuilding method based on PAL camera according to claim 1, it is characterized in that: comprise two industrial cameras (1) being separately installed with PAL camera lens (2), two described PAL camera lens (2) vertical runs, two industrial cameras (1) connect computing machine (3) by data line; Computing machine (3) reads the view data that industrial camera (1) collects, and by processing the three-dimensional scenic obtaining rebuilding to view data.
8. three-dimensional reconstruction system according to claim 7, is characterized in that: data line adopts USB USB (universal serial bus).
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