CN104200514B - Three-dimensional reconstruction method for co-axis-distance equal-light-stream catadioptric camera ranging system - Google Patents
Three-dimensional reconstruction method for co-axis-distance equal-light-stream catadioptric camera ranging system Download PDFInfo
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- CN104200514B CN104200514B CN201410362762.6A CN201410362762A CN104200514B CN 104200514 B CN104200514 B CN 104200514B CN 201410362762 A CN201410362762 A CN 201410362762A CN 104200514 B CN104200514 B CN 104200514B
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Abstract
The invention discloses a three-dimensional reconstruction method for a co-axis-distance equal-light-stream catadioptric camera ranging system, wherein the centrosymmetry axis of a rotor mirror surface is collinear with a perspective camera, an incident light is imaged to the perspective camera through mirror surface reflection, and the rotor mirror surface has a mirror surface outline with an equal-light-stream characteristic. The three-dimensional reconstruction method comprises the following steps of: establishing an xyz coordinate system, calculating included angles among a reflective ray, an incident ray and a horizontal surface, and reflective point positions, ranging each space point of a ranged object, and calculating to obtain the three-dimensional coordinate information, thus realizing three-dimensional reconstruction. According to the three-dimensional reconstruction method disclosed by the invention, the three-dimensional reconstruction for a stereoscopic scene is realized, and the three-dimensional reconstruction is realized through calculating the light streams of the space points of the ranged object on the image acquired by the camera; the system can be used for navigation and obstacle avoidance of a pilotless aircraft, the change speed of the image acquired by the camera can be reduced, and the perspective deformation of the camera when the camera observes the horizontal surface extending to infinity in front of the aircraft can be eliminated.
Description
Technical field
The present invention relates to a kind of three-dimensional rebuilding method of range-measurement system, especially relate to a kind of concentric catadioptric away from grade light stream
Penetrate the three-dimensional rebuilding method of camera range-measurement system.
Background technology
The omnidirectional camera being widely used in video monitoring, robot navigation, video conference and scene rebuilding at present is most
The camera range-measurement system being made up of conventional mammogram camera and mirror surface, the use of mirror surface makes omnidirectional camera have greatly
View field imaging characteristic.According to whether meeting single viewpoint characteristic, omnidirectional camera can be divided into single view catadioptric camera and non-list
Viewpoint catadioptric camera.Because the installation of perspective camera in actual applications and mirror surface can have mistake to a certain extent
Partially, so being essentially all non-single view catadioptric camera used in reality.
The imaging characteristic of omnidirectional camera is to determine, typical mirror surface includes parabolic lens by the shape of mirror surface
Face, hyperboloidal mirror, oval minute surface and flat mirror.In actual applications in order that omnidirectional camera obtains certain imaging spy
Property, thus have devised the mirror surface with special shape.Document 1 (Chahl J S, Srinivasan M as Chahl
V.Reflective surfaces for panoramic imaging[J].Applied Optics,1997,36(31):
8275-8285.), devise a kind of isogonism minute surface, the angle of angle change and reflection light that this minute surface has incident ray becomes
Change linear feature, this makes there is a kind of simple angle map relation between incident ray and reflection light, from
And be easy to analyze imaging arrangement.
Content of the invention
The purpose of the present invention is to propose to a kind of concentric three-dimensional rebuilding method away from grade light stream catadioptric camera range-measurement system,
By the mirror surface of particular design and perspective camera form concentric away from etc. light stream catadioptric camera range-measurement system realize to reality
The three-dimensional reconstruction of border stereo scene.It is only necessary to know the vertical height apart from ground for the system in the case that system speed is unknown, then
Realize to scene three-dimensional reconstruction by using collected by camera image and optical flow computation.
The technical solution used in the present invention includes：
This camera range-measurement system includes rotary body minute surface coaxially staggered relatively and perspective camera, the center of rotary body minute surface
The optical axis of symmetry axis and perspective camera is conllinear, and the summit of rotary body minute surface and the distance between perspective camera photocentre fixing, quilt
Survey the lower section that object is placed in rotary body minute surface, the incident ray of testee spatial point is imaged onto perspective camera through mirror-reflection
Imaging plane, rotary body minute surface such as has at the minute surface profile of optical flow characteristic；This three-dimensional rebuilding method comprises the following steps：
1) xyz coordinate system is set up for initial point with perspective camera photocentre, z-axis positive direction is pointed in minute surface with perspective camera photocentre
The direction of heart axle is identical, and x-axis direction is located at horizontal plane, and y-axis positive direction is straight up；
2) according to testee spatial point A, the imaging A ' in camera imaging plane arrives the distance of camera imaging planar central
The lens focus f of η and perspective camera obtains corresponding to the angle theta between the reflection light of testee spatial point A and horizontal plane；
And the minute surface profile of the direction by reflection light and rotary body minute surface, incident ray and level are obtained according to Snell reflection law
The angle β in the face and position r of pip0(x0,y0,z0), x0、y0、z0It is respectively the three of incident ray and minute surface profile intersection point
Dimension coordinate；
3) each spatial point of testee is found range, obtain testee spatial point to the distance of shaft centers of camera optical axis
h；
4) by step 3) in the distance of shaft centers h of testee spatial point A that obtains to camera optical axis substitute into below equation and calculate
Obtain the three-dimensional coordinate information of testee spatial point A, realize three-dimensional reconstruction：
xA=h sin α
yA=h cos α
Wherein, xA、yA、zAIt is respectively the three-dimensional coordinate of the testee spatial point after rebuilding, α is testee spatial point
In imaging and the line at its center and the angle of vertical direction of camera imaging plane, β is by the incidence of testee spatial point
Light and the angle of horizontal plane.
Described specifically adopts following methods to by the range finding of each spatial point of range finding object：
2.1) simulated environment is set up using this camera range-measurement system, configuration simulation parameter is imitated by below equation
The value of system constants c under true environment：
Wherein, V ' is camera range-measurement system movement velocity in the direction of the optical axis under simulated environment, and h ' is under simulated environment
To the distance of shaft centers of optical axis, f ' is the focal length of perspective camera under simulated environment to testee spatial point, and L ' is tested under simulated environment
Away from light flow valuve on collected by camera image for the spatial point；
2.2) actual range finding is carried out using this camera range-measurement system, after perspective camera collection image, be calculated measured object
Light stream L on collected by camera image for the body spatial point；
2.3) and then by below equation it is calculated testee spatial point to the distance of shaft centers h of camera optical axis, thus logical
Cross collected by camera image and optical flow computation realizes range finding：
Wherein, V is camera range-measurement system movement velocity in the direction of the optical axis, and f is the focal length of perspective camera.
This method is used for the three-dimensional coordinate information by calculating any testee spatial point, realizes three-dimensional reconstruction.
The invention has the beneficial effects as follows：
Present invention achieves the three-dimensional reconstruction to stereo scene.And it is only necessary to knowing and being in the case that system speed is unknown
The vertical height apart from ground for the system, just can realize the Three-dimensional Gravity to scene by using the optical flow computation on collected by camera image
Build.
Present system can be used for navigation and the avoidance of UAV, and the inventive method can reduce collected by camera and arrive
Rate of image change and eliminate camera observe aircraft forward extend to infinity horizontal plane when camera perspective distortion.
Brief description
Fig. 1 is the structural representation of the camera range-measurement system of the present invention.
Fig. 2 is the stereo scene schematic diagram posting two-dimensional bar of the embodiment of the present invention.
The schematic diagram of the three-dimensional reconstruction result that Fig. 3 obtains for the embodiment of the present invention.
Specific embodiment
It is more fully described the present invention below in conjunction with the accompanying drawings.
As shown in figure 1, the camera range-measurement system of the present invention includes rotary body minute surface coaxially staggered relatively and perspective camera
And the summit of rotary body minute surface and the fixation of the distance between perspective camera photocentre, the central symmetry axis of rotary body minute surface and perspective phase
The optical axis of machine is conllinear, and testee is placed in the lower section of rotary body minute surface, and the incident ray of testee spatial point is through mirror-reflection
It is imaged onto perspective camera, rotary body minute surface is the minute surface profile etc. with optical flow characteristic.Refer in camera optical axis Deng optical flow characteristic
The direction of motion on, spatially at equal intervals imaging in camera imaging plane for the point is distributed at equal intervals.
This camera range-measurement system meets in the direction of motion of optical axis, and spatially point is put down corresponding to camera imaging at equal intervals
The feature of equidistant pixel on face, this makes spatial point a kind of to existing between the distance of shaft centers of camera optical axis and image light stream
Simple corresponding relation, when mirror surface and perspective camera desired configuration it is known that systematic parameter and movement velocity can be by cameras
The light stream collecting on imaging plane directly calculates testee spatial point to the distance of shaft centers of camera optical axis.Present system can
It is arranged on the aircraft such as unmanned plane.
The shape of mirror surface be by movement velocity V of system and testee spatial point apart from camera optical axis distance of shaft centers
H, camera focus f of perspective camera, camera photocentre are to minute surface summit apart from r0And minute surface critical angle deflection ω0Etc. parameter
Determine；The mirror surface of design meets special isometry：In the direction of motion of optical axis, spatially point corresponds at equal intervals
Equidistant pixel in camera imaging plane.
Its three-dimensional rebuilding method comprises the following steps：
1) xyz coordinate system is set up for initial point with perspective camera photocentre, z-axis positive direction is pointed in minute surface with perspective camera photocentre
The direction of heart axle is identical, and x-axis direction is located at horizontal plane, and y-axis positive direction is straight up；
2) according to testee spatial point A, the imaging A ' in camera imaging plane arrives the distance of camera imaging planar central
The lens focus f of η and perspective camera obtains corresponding to the angle theta between the reflection light of testee spatial point A and horizontal plane；
And the minute surface profile of the direction by reflection light and rotary body minute surface, incident ray and level are obtained according to Snell reflection law
The angle β in the face and position r of pip0(x0,y0,z0), x0、y0、z0It is respectively the three of incident ray and minute surface profile intersection point
Dimension coordinate；
3) each spatial point of testee is found range, obtain testee spatial point to the distance of shaft centers of camera optical axis
h：
4) by step 3) in the distance of shaft centers h of testee spatial point A that obtains to camera optical axis substitute into equation 1 below～3
Obtain the three-dimensional coordinate information of testee spatial point A, realize three-dimensional reconstruction：
xA=h sin α (1)
yA=h cos α (2)
Wherein, xA、yA、zAIt is respectively the three-dimensional coordinate of the testee spatial point after rebuilding, α is testee spatial point
In imaging and the line at its center and the angle of vertical direction of camera imaging plane, β is by the incidence of testee spatial point
Light and the angle of horizontal plane.
To the range finding of each spatial point of testee preferably by following methods：
1) simulated environment is set up using this camera range-measurement system, configuration simulation parameter is imitated by equation 4 below
The value of system constants c under true environment：
(4)
Wherein, V ' is camera range-measurement system movement velocity in the direction of the optical axis under simulated environment, and h ' is under simulated environment
To the distance of shaft centers of optical axis, f ' is the focal length of perspective camera under simulated environment to testee spatial point, and L ' is tested under simulated environment
Away from light flow valuve on collected by camera image for the spatial point；
2) actual range finding is carried out using this camera range-measurement system, after perspective camera collection image, be calculated testee
Light stream L on collected by camera image for the spatial point；
3) and then by equation 5 below it is calculated testee spatial point to the distance of shaft centers h of camera optical axis, thus passing through
Collected by camera image and optical flow computation realize range finding：
Wherein, V is camera range-measurement system movement velocity in the direction of the optical axis, and f is the focal length of perspective camera.
The inventive method can be used for the three-dimensional coordinate information by calculating any testee spatial point, realizes Three-dimensional Gravity
Build.
As shown in figure 1, the minute surface profile of currently preferred rotary body minute surface can design in the following ways：To have an X-rayed phase
Machine photocentre sets up polar coordinate system for initial point, and under this polar coordinate system, the described minute surface profile etc. with optical flow characteristic is below equation
6：
Wherein, r is the distance to camera photocentre for the pip on minute surface profile, and θ is pip and phase on minute surface profile
The angle that line between machine photocentre is formed with camera optical axis, r0For the distance between minute surface summit and camera photocentre, G (θ) is
The Solutions of Ordinary Differential Equations of angular deflection, ω0For the deflection of minute surface critical angle.
The Solutions of Ordinary Differential Equations of angular deflection after mirror-reflection for the incident ray and minute surface critical angle deflection sum G (θ)+
ω0Solved by equation 7 below and obtain：
Wherein, V is camera range-measurement system movement velocity in the direction of the optical axis, and f is the focal length of perspective camera, and h is tested
To the distance of shaft centers of camera optical axis, L is light stream on collected by camera image for the testee spatial point to object space point, and ω is incident
Angular deflection after mirror-reflection for the light.The angle theta that line between pip and camera photocentre is formed with camera optical axis
During for 0, the Solutions of Ordinary Differential Equations G (0)=0 of angular deflection.
Concentric in the practical application waiting light stream catadioptric camera range-measurement system, usually can run into system speed unknown
Situation；The height h apart from ground for the known system and camera focus f, by spatial point immediately below computing system in camera imaging
Light flow valuve L at imaging in plane, can be obtained the movement velocity of system during collected by camera image by formula 5
Calculated system speed is used for the three-dimensional reconstruction under speed known case, and each institute to collected by camera image in moment
The three-dimensional reconstruction realized is accumulated, and can obtain the three-dimensional reconstruction to scene under system motion speed unknown condition.
Compare and speed known case, the three-dimensional rebuilding method being also adopted by the present invention under speed unknown situation carries out Three-dimensional Gravity
Build the purpose it is achieved that to scene three-dimensional reconstruction；Thus, it is only required to know the vertical height apart from ground for the system, just can use
Collected by camera image and optical flow computation realize the three-dimensional reconstruction to scene.
Embodiments of the invention：
It is used for emulation experiment, mirror design parameter by concentric away from grade light stream catadioptric camera range-measurement system：System is in light
Count on speed V '=20mm/s on direction of principal axis, the distance of shaft centers h '=1m of testee spatial point to optical axis, collected by camera image
Light stream L '=3pixels/s of obtaining, the focal length f '=16mm of perspective camera, the boundary condition of minute surfaceAnd
Camera photocentre is to minute surface summit apart from r '0=0.1m.
By concentric away from waiting light stream catadioptric camera range-measurement system to be arranged in metal frame, metal frame is apart from the height on ground
Can be adjusted.The height apart from ground for the regulating system is h=0.8m, and system is with the speed of V=0.02m/s in optical axis direction
On do linear uniform motion, with the speed acquisition image of 1frame/sec, camera focus are f=16mm to perspective camera.Field experiment
Scape is the stereo scene posting two-dimensional bar, as shown in Figure 2.By relational expressionCan obtain distance of shaft centers h and
Relational expression between light stream L can be expressed as h=300 L-1.Be can achieve to actual vertical using the three-dimensional rebuilding method being proposed
The three-dimensional reconstruction of body scene, three-dimensional reconstruction result is as shown in Figure 3.The average of reconstruction spatial point and ideal value deviation is with standard deviation such as
Table 1.When system motion speed is unknown, rebuild average and the standard deviation such as table 2 of experimental point and ideal value deviation.Can see, institute
The three-dimensional rebuilding method proposing can preferably realize the three-dimensional reconstruction to actual stereo scene, rebuilds spatial point uniformly compactly
It is distributed in the both sides of ideal value.
Reconstruction accuracy under speed unknown situation also enables the three-dimensional reconstruction to scene.Therefore, experimental result table
The validity of bright proposed three-dimensional rebuilding method.
Reconstruction accuracy under speed known case for the table 1
| Plan A | Plan B | Plan C | Plan D | Plan E | Plan F | |
| Deviation average/cm | 0.34 | 1.69 | 0.01 | 0.31 | 0.06 | 0.45 |
| Deviation standard difference/cm | 3.17 | 3.05 | 4.22 | 2.43 | 3.69 | 3.56 |
Reconstruction accuracy under speed unknown situation for the table 2
| Plan A | Plan B | Plan C | Plan D | Plan E | Plan F | |
| Deviation average/cm | 0.27 | 1.88 | 2.52 | 2.68 | 2.48 | 2.73 |
| Deviation standard difference/cm | 3.95 | 4.23 | 4.47 | 4.82 | 4.53 | 4.76 |
Above-mentioned specific embodiment is used for illustrating the present invention, rather than limits the invention, in the essence of the present invention
In god and scope of the claims, any modifications and changes that the present invention is made, both fall within protection scope of the present invention.
Claims (3)
1. a kind of concentric away from wait light stream catadioptric camera range-measurement system three-dimensional rebuilding method it is characterised in that：
This camera range-measurement system includes rotary body minute surface coaxially staggered relatively and perspective camera, the Central Symmetry of rotary body minute surface
The optical axis of axle and perspective camera is conllinear, and the summit of rotary body minute surface and the distance between perspective camera photocentre fixing, measured object
Body is placed in the lower section of rotary body minute surface, and the incident ray of testee spatial point is imaged onto the imaging of perspective camera through mirror-reflection
Plane, rotary body minute surface such as has at the minute surface profile of optical flow characteristic；This three-dimensional rebuilding method comprises the following steps：
1) xyz coordinate system is set up for initial point with perspective camera photocentre, z-axis positive direction points to minute surface central shaft with perspective camera photocentre
Direction identical, x-axis direction be located at horizontal plane, y-axis positive direction be straight up；
2) according to imaging A ' in camera imaging plane for testee spatial point A arrive camera imaging planar central distance il and
The lens focus f of perspective camera obtains corresponding to the angle theta between the reflection light of testee spatial point A and horizontal plane；And
By the direction of reflection light and the minute surface profile of rotary body minute surface, incident ray and horizontal plane are obtained according to Snell reflection law
Angle β and pip position P (x0,y0,z0), x0、y0、z0It is respectively the three-dimensional seat of incident ray and minute surface profile intersection point
Mark；
3) each spatial point of testee is found range, obtain testee spatial point to the distance of shaft centers h of camera optical axis；
4) by step 3) in the distance of shaft centers h of testee spatial point A that obtains to camera optical axis substitute into below equation and be calculated
The three-dimensional coordinate information of testee spatial point A, realizes three-dimensional reconstruction：
xA=h sin α
yA=h cos α
Wherein, xA、yA、zAIt is respectively the three-dimensional coordinate of the testee spatial point after rebuilding, α is testee spatial point in phase
The line of the imaging of machine imaging plane and camera imaging planar central and the angle of vertical direction, β is by testee spatial point
Incident ray and horizontal plane angle.
2. a kind of concentric three-dimensional rebuilding method away from grade light stream catadioptric camera range-measurement system according to claim 1,
It is characterized in that：
Described specifically adopts following methods to by the range finding of each spatial point of range finding object：
2.1) simulated environment is set up using this camera range-measurement system, configuration simulation parameter obtains emulating ring by below equation
The value of system constants c under border：
Wherein, V ' is camera range-measurement system movement velocity in the direction of the optical axis under simulated environment, and h ' is tested under simulated environment
To the distance of shaft centers of optical axis, f ' is the focal length of perspective camera under simulated environment to object space point, and L ' is empty by range finding under simulated environment
Between put the light flow valuve on collected by camera image；
2.2) actual range finding is carried out using this camera range-measurement system, after perspective camera collection image, be calculated testee empty
Between put the light stream L on collected by camera image；
2.3) and then by below equation it is calculated testee spatial point to the distance of shaft centers h of camera optical axis, thus passing through phase
Machine collection image and optical flow computation realize range finding：
Wherein, V is camera range-measurement system movement velocity in the direction of the optical axis, and f is the focal length of perspective camera.
3. a kind of concentric three-dimensional rebuilding method away from grade light stream catadioptric camera range-measurement system according to claim 1,
It is characterized in that：This method is used for the three-dimensional coordinate information by calculating any testee spatial point, realizes three-dimensional reconstruction.
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| CN110044293B (en) | 2018-01-17 | 2020-11-17 | 深圳中科飞测科技有限公司 | Three-dimensional reconstruction system and three-dimensional reconstruction method |
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| CN101033972A (en) * | 2007-02-06 | 2007-09-12 | 华中科技大学 | Method for obtaining three-dimensional information of space non-cooperative object |
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| WO2013116694A1 (en) * | 2012-02-03 | 2013-08-08 | The Trustees Of Dartmouth College | Method and apparatus for determining tumor shift during surgery using a stereo-optical three-dimensional surface-mapping system |
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| CN101033972A (en) * | 2007-02-06 | 2007-09-12 | 华中科技大学 | Method for obtaining three-dimensional information of space non-cooperative object |
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| WO2013116694A1 (en) * | 2012-02-03 | 2013-08-08 | The Trustees Of Dartmouth College | Method and apparatus for determining tumor shift during surgery using a stereo-optical three-dimensional surface-mapping system |
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