CN113936116A - Complex space curved surface mapping method for transparent A column - Google Patents
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- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/107—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using stereoscopic cameras
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- B60R2300/20—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
- B60R2300/202—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used displaying a blind spot scene on the vehicle part responsible for the blind spot
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- B60R2300/802—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for monitoring and displaying vehicle exterior blind spot views
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Abstract
The invention provides a complex space curved surface mapping method for a transparent A column, which comprises the following steps: s1Acquiring 3D coordinates of a series of discrete sampling points on the depth image; s2Establishing a curved surface model; s3Adding a regularization term; s4And calculating model parameters by adopting an LM optimization algorithm. The complex space curved surface mapping method for the transparent A column has the following advantages: firstly, a simple model is established, and a complex space is expressed; secondly, a large-range sampling method is adopted, and the space range of fitting is increased; thirdly, adding a regularization method to prevent overfitting; fourthly, a filling method is adopted to prevent the cavity from influencing the fitting result; fifthly, the model has wide application range, and is suitable for space planes, paraboloids, hyperboloids and the like; sixthly, the problem of the cavity can be solved,and the whole block of charting can be accelerated.
Description
Technical Field
The invention relates to the field of 3D model fitting, in particular to a complex space curved surface mapping method for a transparent A column.
Background
In the prior art, 3D model fitting has wide application, for example, in a 3D reconstruction process, object surface information with higher accuracy is obtained, and in a 3D modeling process, a finer and smoother physical model is obtained.
However, there are some limitations to 3D model fitting, such as the need to know a definite model (e.g. plane, sphere, etc.), the larger the spatial range of fitting in a complex scene, and the lower the accuracy of the model.
Therefore, the study of approximate expression for all spaces within the imaging range of the camera is limited at present.
In view of the above, those skilled in the art have devised a complex spatial surface mapping method for a transparent a-pillar, in order to overcome the above technical problems.
Disclosure of Invention
The invention aims to overcome the defects that the fitting space range of a 3D model is larger in a complex scene, the model accuracy is lower and the like in the prior art, and provides a complex space curved surface mapping method for a transparent A column.
The invention solves the technical problems through the following technical scheme:
a complex space curved surface mapping method for a transparent A column is characterized by comprising the following steps:
S1acquiring 3D coordinates of a series of discrete sampling points on the depth image;
S2establishing a curved surface model;
S3adding a regularization term;
S4and calculating model parameters by adopting an LM optimization algorithm.
According to an embodiment of the invention, said step S1Then also comprises the following steps:
S11and filling the depth map of the discrete sampling points.
According to an embodiment of the invention, said step S11The method specifically comprises the following steps: calculating the depth of the cavity point by interpolating the existing depth information by adopting a nearest interpolation method;
according to an embodiment of the invention, said step S2Middle ladleComprises the following steps: establishing a curved surface model, and establishing a curved surface equation (Z is ax) after removing a square term of Z by combining the randomness of the space model2+by2+cxy+dxz+eyz+fx+gy+h。
According to an embodiment of the invention, said step S3Comprises the following steps: adding a regularization term, and adding a regularization term alpha (a) into the model equation in order to ensure the convergence of the model2+b2+c2+d2+e2+f2+g2+h2)。
According to an embodiment of the invention, said step S4Comprises the following steps: using LM optimization algorithm to obtain model parameters, and finally iterating the model into
According to an embodiment of the invention, said step S4Then also comprises the following steps:
S5and calculating the intersection points of the eyebrow center coordinates, the four corners of the A-pillar display screen and the space curved surface equation under the space coordinate system to form a space intersection point.
According to an embodiment of the invention, said step S5Then also comprises the following steps:
S6and calculating pixel points of the space intersection points through a projection equation.
According to an embodiment of the invention, said step S6Then also comprises the following steps:
S7and projecting the deformed imaging area on the image plane on the A-pillar display screen.
The positive progress effects of the invention are as follows:
the complex space curved surface mapping method for the transparent A column has the following advantages:
firstly, a simple model is established, and a complex space is expressed;
secondly, a large-range sampling method is adopted, and the space range of fitting is increased;
thirdly, adding a regularization method to prevent overfitting;
fourthly, a filling method is adopted to prevent the cavity from influencing the fitting result;
fifthly, the model has wide application range, and is suitable for space planes, paraboloids, hyperboloids and the like;
sixthly, the problem of cavities can be solved, and the whole block of mapping can be accelerated.
Drawings
The above and other features, properties and advantages of the present invention will become more apparent from the following description of the embodiments with reference to the accompanying drawings in which like reference numerals denote like features throughout the several views, wherein:
fig. 1 is a schematic diagram of arrangement of discrete points in the complex spatial surface mapping method for the transparent a-pillar according to the present invention.
FIG. 2 is a schematic diagram of coordinate points in the complex spatial surface mapping method for the transparent A-pillar according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
Embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings. Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts.
Further, although the terms used in the present invention are selected from publicly known and used terms, some of the terms mentioned in the description of the present invention may be selected by the applicant at his or her discretion, the detailed meanings of which are described in relevant parts of the description herein.
Furthermore, it is required that the present invention is understood, not simply by the actual terms used but by the meaning of each term lying within.
Fig. 1 is a schematic diagram of arrangement of discrete points in the complex spatial surface mapping method for the transparent a-pillar according to the present invention. FIG. 2 is a schematic diagram of coordinate points in the complex spatial surface mapping method for the transparent A-pillar according to the present invention.
As shown in fig. 1 and fig. 2, the present invention discloses a complex spatial surface mapping method for a transparent a-pillar, which includes the following steps:
step S1And acquiring 3D coordinates of a series of discrete sampling points on the depth image.
Said step S1Then also comprises the following steps: s11And filling the depth map of the discrete sampling points.
Preferably, the step S11The method specifically comprises the following steps: calculating the depth of the cavity point by interpolating the existing depth information by adopting a nearest interpolation method;
step S2And establishing a curved surface model.
Preferably, the step S2Comprises the following steps: establishing a curved surface model, and establishing a curved surface equation (Z is ax) after removing a square term of Z by combining the randomness of the space model2+by2+ cxy + dxz + eyz + fx + gy + h. Step S3And adding a regularization term.
Preferably, the step S3Comprises the following steps: adding a regularization term, and adding a regularization term alpha (a) into the model equation in order to ensure the convergence of the model2+b2+c2+d2+e2+f2+g2+h2)。
Step S4And calculating model parameters by adopting an LM optimization algorithm.
Preferably, the step S4Comprises the following steps: using LM optimization algorithm to obtain model parameters, and finally iterating the model into
Further, in the step S4The method also comprises the following steps:
step S5Calculating the intersection points of four corner points of the eyebrow center coordinates 10 and the A-pillar display screen 20 and the space curved surface equation under the space coordinate system to form a space intersection point 30。
Further preferably, the step S5The method also comprises the following steps:
step S6And calculating pixel points of the space intersection points through a projection equation.
Further, the step S6The method also comprises the following steps:
step S7And projecting the deformed imaging area on the image plane 40 on the A-pillar display screen.
The invention relates to a complex space curved surface mapping method for a transparent A column, for example, aiming at a system mainly comprising a 3D camera and a personal computer, the 3D camera is used for acquiring 3D coordinates (x, y, z) of a space object, and the shape of the 3D coordinates is determined according to a quadric surface equation:
z＝ax2+by2+cxy+dxz+eyz+fx+gy+h。
introducing a function expression:
f(x,y,z)＝ax2+by2+cxy+dxz+eyz+fx+gy+h-z。
finally, the following optimization problem is converted into:
because a, b, c, D, e, f, g, h, 8 parameters need to be solved, the number of unknowns can be known, the equation can be solved by using at least 8 space 3D coordinates, and generally, the number of sampling points needs to be increased in order to ensure the accuracy of the solution.
If the image is in a certain density in space, the 3D coordinates of more than 8 discrete points are obtained, and then the 3D coordinates can be used for fitting a 3D surface equation. Due to the depth camera principle problem, there is a problem that some discrete points have no depth, and the filling is carried out by adopting a proximity filling method.
In addition, in order to prevent the curved surface shape from being over-fitted, a regularization term is added, and an expression is converted into:
in summary, the complex spatial surface mapping method for the transparent a-pillar of the present invention has the following advantages:
firstly, a simple model is established, and a complex space is expressed;
secondly, a large-range sampling method is adopted, and the space range of fitting is increased;
thirdly, adding a regularization method to prevent overfitting;
fourthly, a filling method is adopted to prevent the cavity from influencing the fitting result;
fifthly, the model has wide application range, and is suitable for space planes, paraboloids, hyperboloids and the like;
sixthly, the problem of cavities can be solved, and the whole block of mapping can be accelerated.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (9)
1. A complex space curved surface mapping method for a transparent A column is characterized by comprising the following steps:
S1acquiring 3D coordinates of a series of discrete sampling points on the depth image;
S2establishing a curved surface model;
S3adding a regularization term;
S4and calculating model parameters by adopting an LM optimization algorithm.
2. The method for complex spatial surface mapping of transparent a-pillar according to claim 1, wherein said step S1Then also comprises the following steps:
S11for the said discrete miningAnd filling the depth map of the sampling points.
3. The method for complex spatial surface mapping of transparent a-pillar according to claim 2, wherein said step S11The method specifically comprises the following steps: and (3) calculating the depth of the cavity point by interpolating the existing depth information by adopting a nearest interpolation method.
4. The method for complex spatial surface mapping of transparent a-pillar according to claim 1, wherein said step S2Comprises the following steps: establishing a curved surface model, and establishing a curved surface equation after removing a square term of Z in combination with the randomness of the space model
z＝ax2+by2+cxy+dxz+eyz+fx+gy+h。
5. The method for complex spatial surface mapping of transparent A-pillar according to claim 4, wherein said step S3Comprises the following steps: adding a regularization term, and adding a regularization term alpha (a) into the model equation in order to ensure the convergence of the model2+b2+c2+d2+e2+f2+g2+h2)。
6. The method for complex spatial surface mapping of transparent A-pillar according to claim 5, wherein said step S4Comprises the following steps: using LM optimization algorithm to obtain model parameters, and finally iterating the model into
7. The method for complex spatial surface mapping of transparent A-pillar according to claim 6, wherein said step S4Then also comprises the following steps:
S5calculating the coordinates of the eyebrow center and four corners and space curves of the A-pillar display screen in the space coordinate systemAnd the intersection points of the plane equations form spatial intersection points.
8. The method for complex spatial surface mapping of transparent a-pillar according to claim 7, wherein said step S5Then also comprises the following steps:
S6and calculating pixel points of the space intersection points through a projection equation.
9. The method for complex spatial surface mapping of transparent a-pillar according to claim 7, wherein said step S6Then also comprises the following steps:
S7and projecting the deformed imaging area on the image plane on the A-pillar display screen.
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