CN108010125A - True scale three-dimensional reconstruction system and method based on line-structured light and image information - Google Patents
True scale three-dimensional reconstruction system and method based on line-structured light and image information Download PDFInfo
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Abstract
The invention belongs to photoelectric detection technology field, and in particular to a kind of true scale three-dimensional reconstruction system and method based on line-structured light and image information.The system includes line-structured light generator and monocular camera；The line-structured light generator is used to send a plurality of line-structured light, and a plurality of line-structured light has the intersection figure of at least two light intersection points in object under test Surface Creation；The monocular camera is used for the multi-view image for gathering object under test.The present invention obtains the true scale Three-dimension Reconstruction Model of object under test using the combination of line-structured light and image information, overcome the multi-view angle three-dimensional based on image information and rebuild the problem for lacking dimensional information, it it also avoid the use of the expensive devices such as IMU, POS and GPS at the same time, realize inexpensive, high-precision true scale three-dimensional reconstruction.
Description
Technical field
The invention belongs to photoelectric detection technology field, and in particular to a kind of true ruler based on line-structured light and image information
Spend three-dimensional reconstruction system and method.
Background technology
Key technology in multiview three-dimensional method for reconstructing mainly includes recovery and the multi views Stereo matching of camera parameter.
Camera parameter recovery is also referred to as exercise recovery structure, is generally used for estimating for the reconstruct of large-scale sparse three-dimensional point cloud and camera pose
Meter.Since the acquisition process of image relate to illumination, reflection behavior of surface, three-dimensional scenic geometric characteristic, pass through multi views
Stereo matching carries out the essence of three-dimensional reconstruction, i.e., the optimization problem based on illumination consistency constraint on several views.Based on list
The three-dimensional rebuilding method of mesh multi-view image, due to just knowing that the inner parameter of camera, therefore obtained reconstructed results are a kind of degree
Amount is rebuild.Metric reconstruction is a kind of included angle of straight line, the method for line segment length proportionate relationship, but nothing to be kept in the model of reconstruction
Method obtains target full-size(d).In other words, the object module obtained differs only by a unknown scale with real goal.
In order to obtain dimensional information, real Three-dimensional Gravity is mainly obtained using auxiliary such as IMU, POS and GPS systems both at home and abroad
Build as a result, high-precision IMU system prices are high, common IMU, POS, GPS system precision are poor, and the above method is for city
The other large scene three-dimensional reconstruction of city-level can be selected, but the error then introduced for the three-dimensional reconstruction of wisp is excessive；With GPS
Exemplified by, precision is meter level, far can not meet the three-dimensional reconstruction demand of the true scale of high precision.
The content of the invention
It is an object of the present invention to provide a kind of based on line-structured light and the true scale three-dimensional reconstruction system of image information and side
Method, solves that existing three-dimensional rebuilding method is of high cost, technical problem of low precision.
The present invention technical solution be：A kind of true scale three-dimensional reconstruction system based on line-structured light and image information
System, it is characterized in that：Including line-structured light generator and monocular camera；The line-structured light generator is used to send a plurality of
Line-structured light, a plurality of line-structured light have the intersection figure of at least two light intersection points in object under test Surface Creation；The monocular
Camera is used for the multi-view image for gathering object under test.
Further, above-mentioned line-structured light generator includes multiple generating units, the generating unit include laser and
Cylindrical prism, diverging generation line-structured light after the laser beam oblique incidence cylindrical prism that the laser is sent.
Further, the quantity of generating unit is four in above-mentioned line-structured light generator, the production of two of which generating unit
Raw vertical optical plane, two other generating unit produce horizontal optical plane；Two vertical optical planes are total to two horizontal optical planes
With in object under test Surface Creation " well " font intersection figure.
The present invention also provides a kind of true scale three-dimensional rebuilding method based on line-structured light and image information, its it is special it
It is in comprising the following steps：
1) three-dimensional reconstruction system being made of line-structured light generator and monocular camera is built；
2) line-structured light generator sends a plurality of line-structured light, and a plurality of line-structured light is in object under test Surface Creation intersection
Scheme, there are at least two light intersection points in the intersection figure；
3) the distance between calibration line structured light generators and monocular camera and angle information；
4) control between three-dimensional reconstruction system and object under test and produce relative motion, make monocular camera shoot to obtain determinand
Image of the body in different azimuth and angle；
5) multi-view image based on step 4) shooting solves to obtain normalization Three-dimension Reconstruction Model；
6) light information in intersection figure is identified, between the line-structured light generator and monocular camera demarcated according to step 3)
Relation resolve to obtain the three-dimensional coordinate M of multiple light intersection points in intersection figure；
7) object matching is carried out, according to projection relation, calculates and determines light intersection point location of pixels on the image and institute
State correspondence point coordinates M ' of the location of pixels on normalization Three-dimension Reconstruction Model；
8) scale coefficient is obtained according to the correspondence of the two groups of coordinates obtained in step 6) and step 7)；
9) scale coefficient that the normalization Three-dimension Reconstruction Model in step 5) is multiplied by step 8) is obtained into true scale three
Tie up reconstruction model.
Further, the line-structured light generator in step 1) includes multiple generating units, and the generating unit includes swashing
Light device and cylindrical prism, diverging generation line-structured light after the laser beam oblique incidence cylindrical prism that the laser is sent.
Further, the quantity of the line-structured light in step 2) is four, and two of which line-structured light produces vertical light and puts down
Face, two other line-structured light produce horizontal optical plane；Two vertical optical planes and two horizontal optical planes are jointly in determinand
Body Surface Creation " well " font intersection figure.
Further, step 3) further includes the step of adjustment monocular camera, adjustment monocular camera and line-structured light generator
The distance between and angle so that the light that line-structured light produces is close to the center of monocular camera, then after calibration adjustment
Line-structured light generator and the distance between monocular camera and angle information.
Further, the rotation angle in step 4) between the adjacent two images of shooting is less than 5 °.
Further, the method that normalization Three-dimension Reconstruction Model is solved in step 5) comprises the following steps：
5.1) characteristic point is extracted, and carries out Feature Points Matching；
5.2) in the case of known monocular camera internal reference, the relative motion solved between monocular camera and object under test is joined
Number, obtains sparse Three-dimension Reconstruction Model；
5.3) dense normalization Three-dimension Reconstruction Model is obtained using dough sheet method.
The beneficial effects of the present invention are：
(1) present invention obtains the true scale Three-dimensional Gravity modeling of object under test using the combination of line-structured light and image information
Type, overcomes multi-view angle three-dimensional based on image information and rebuilds the problem for lacking dimensional information, at the same it also avoid IMU, POS and
The use of the expensive devices such as GPS, realizes inexpensive, high-precision true scale three-dimensional reconstruction.
(2) compared to traditional line-structured light three-dimensional rebuilding method, the present invention is only beneficial to line-structured light and produces feature completion
The calculating of scale coefficient and and principle of triangulation is not used, therefore can be used for the three-dimensional reconstruction of remote object.
(3) present invention has taken into full account the robustness of three-dimensional reconstruction, if only adding four laser spots by monocular camera
The method of auxiliary can also carry out three-dimensional reconstruction, but laser spots do not allow that easy to identify and there are larger error, this hair when positioning
Bright that four intersecting light are generated in space, line feature is readily identified in the picture, extracts the intersection point information of four lines, more
Robust.
Brief description of the drawings
Fig. 1 is a kind of preferred embodiment structure diagram (front view) of three-dimensional reconstruction system of the present invention.
Fig. 2 is a kind of preferred embodiment structure diagram (top view) of three-dimensional reconstruction system of the present invention.
Fig. 3 produces schematic diagram for three-dimensional reconstruction system centerline construction light of the present invention.
Fig. 4 is " well " font intersection figure that centerline construction light of the present invention is formed on object under test surface.
Wherein, reference numeral is：1- monocular cameras, 2- generating units, 3- lasers, 4- cylindrical prisms, 5- optical planes.
Embodiment
The present embodiment is a kind of true scale three-dimensional rebuilding method based on line-structured light and image information, it is main include with
Lower step：
1) three-dimensional reconstruction system being made of line-structured light generator and monocular camera 1 is built；Referring to Fig. 1 and Fig. 2, as
A kind of preferred embodiment, line-structured light generator include four generating units 2 in rectangular layout, and each generating unit includes
Laser 3 and cylindrical prism 4.
As shown in figure 3, diverging generation line-structured light after the laser beam oblique incidence cylindrical prism 4 that laser 3 is sent.Except this
Outside, can also use pinhole filter combination cylindrical lens and spherical mirror combined imaging method, straight flange Fresel diffraction method, etc. girdle
The method that mirror diffraction approach, high-speed rotating mirror scanning method etc. produce line-structured light.
2) line-structured light generator sends a plurality of line-structured light, and a plurality of line-structured light is in object under test Surface Creation intersection
Scheme, there are at least two light intersection points in intersection figure.
For the line-structured light generator with four generating units in rectangular layout, above two hairs
Raw unit can produce vertical optical plane, and underlying two generating units can produce horizontal optical plane (or positioned at upper
Two generating units of side can produce horizontal optical plane, and underlying two generating units can produce vertical optical plane).
Two vertical optical planes and two horizontal optical planes are jointly in object under test Surface Creation " well " font intersection as shown in Figure 4
Figure.
In addition, if using the line-structured light generator with six generating units, then three water will be produced in space
Zero diopter plane and three vertical optical planes.
3) the distance between monocular camera and line-structured light generator and angle are adjusted so that the light that line-structured light produces
Close to the center of monocular camera, in order to identify line-structured light and reduce the error produced due to lens distortion to the greatest extent.
Then the distance between the line-structured light generator after calibration adjustment and monocular camera and angle information, to resolve laser beam in sky
Between in coordinate provide basis.
4) control between three-dimensional reconstruction system and object under test and produce relative motion, make monocular camera shoot to obtain determinand
Image of the body in different azimuth and angle.Can be specifically to move three-dimensional reconstruction system relative to testee, in measured object
The different orientation of body and angle shot image.Rotation angle between adjacent two images is less than 5 °, three-dimensional reconstruction system and treats
The distance between survey object can substantially photograph object under test for monocular camera and be preferred；If photograph the part of object under test
Information can also carry out three-dimensional reconstruction；Similarly, three-dimensional reconstruction system is motionless, and testee produces opposite in Space Rotating and translation
Three-dimensional reconstruction result can also be drawn in the movement of three-dimensional reconstruction system.
5) multi-view image based on step 4) shooting solves to obtain normalization Three-dimension Reconstruction Model；Specifically include following step
Suddenly：
5.1) characteristic point is extracted, and carries out Feature Points Matching；SIFT algorithms extraction characteristic point can be used；
5.2) in the case of known monocular camera internal reference, the relative motion solved between monocular camera and object under test is joined
Number, obtains sparse Three-dimension Reconstruction Model；
5.3) dense normalization Three-dimension Reconstruction Model is obtained using dough sheet method.
The three-dimensional reconstruction result that the step obtains lacks dimensional information.
6) light information in intersection figure is identified, between the line-structured light generator and monocular camera demarcated according to step 3)
Relation resolve to obtain the three-dimensional coordinate M of multiple light intersection points in intersection figure；Intersection figure in corresponding diagram 4, can obtain four
Three-dimensional coordinate (the X of intersection point1,Y1,Z1)、(X2,Y2,Z2)、(X3,Y3,Z3)、(X4,Y4,Z4)
7) object matching is carried out, according to projection relation, calculates and determines light intersection point location of pixels on the image and institute
State correspondence point coordinates M ' of the location of pixels on normalization Three-dimension Reconstruction Model；Intersection figure in corresponding diagram 4, can obtain four
Correspondence point coordinates (X ' of the intersection point on normalization Three-dimension Reconstruction Model1,Y′1,Z′1)、(X′2,Y′2,Z′2)、(X′3,Y′3,Z′3)、
(X′4,Y′4,Z′4)。
8) scale coefficient is obtained according to the correspondence of the two groups of coordinates obtained in step 6) and step 7).When intersection point number
When >=2, scale coefficient can be determined, so as to obtain the three-dimensional reconstruction result of target；In order to ensure the robustness of reconstructed results,
Least square can be carried out using four intersection points to solve to obtain accurate three-dimensional reconstruction result；The invention is not limited in extraction four
The intersection point information of straight line, determining for scale coefficient can also be completed using the range information of two light, and then completes true ruler
The three-dimensional reconstruction of degree.
9) scale coefficient that the normalization Three-dimension Reconstruction Model in step 5) is multiplied by step 8) is obtained into true scale three
Tie up reconstruction model.
Above content is to combine the further description that specific preferred embodiment makees the present invention, it is impossible to assert this
The specific implementation of invention is confined to these explanations.For those skilled in the art, do not departing from
Some simple deduction or replace are made on the premise of present inventive concept and belong to protection scope of the present invention.
Claims (9)
- A kind of 1. true scale three-dimensional reconstruction system based on line-structured light and image information, it is characterised in that：Including cable architecture Optical generator and monocular camera；The line-structured light generator is used to send a plurality of line-structured light, and a plurality of line-structured light is to be measured Intersection figure of the body surface generation with least two light intersection points；The monocular camera is used for the various visual angles for gathering object under test Image.
- 2. the true scale three-dimensional reconstruction system according to claim 1 based on line-structured light and image information, its feature It is：The line-structured light generator includes multiple generating units, and the generating unit includes laser and cylindrical prism, described Diverging generation line-structured light after the laser beam oblique incidence cylindrical prism that laser is sent.
- 3. the true scale three-dimensional reconstruction system according to claim 2 based on line-structured light and image information, its feature It is：The quantity of generating unit is four in the line-structured light generator, and two of which generating unit produces vertical optical plane, Two other generating unit produces horizontal optical plane；Two vertical optical planes and two horizontal optical planes are jointly in determinand body surface Face generates " well " font intersection figure.
- 4. a kind of true scale three-dimensional rebuilding method based on line-structured light and image information, it is characterised in that including following step Suddenly：1) three-dimensional reconstruction system being made of line-structured light generator and monocular camera is built；2) line-structured light generator sends a plurality of line-structured light, and a plurality of line-structured light is in object under test Surface Creation intersection figure, institute Stating has at least two light intersection points in intersection figure；3) the distance between calibration line structured light generators and monocular camera and angle information；4) control between three-dimensional reconstruction system and object under test and produce relative motion, monocular camera is shot to obtain object under test and is existed The image of different azimuth and angle；5) multi-view image based on step 4) shooting solves to obtain normalization Three-dimension Reconstruction Model；6) light information in intersection figure, the pass between the line-structured light generator and monocular camera demarcated according to step 3) are identified System resolves and obtains the three-dimensional coordinate M of multiple light intersection points in intersection figure；7) object matching is carried out, according to projection relation, calculates and determines light intersection point location of pixels on the image and the picture Correspondence point coordinates M ' of the plain position on normalization Three-dimension Reconstruction Model；8) scale coefficient is obtained according to the correspondence of the two groups of coordinates obtained in step 6) and step 7)；9) scale coefficient that the normalization Three-dimension Reconstruction Model in step 5) is multiplied by step 8) is obtained into true scale Three-dimensional Gravity Established model.
- 5. the true scale three-dimensional rebuilding method according to claim 4 based on line-structured light and image information, its feature It is：Line-structured light generator in step 1) includes multiple generating units, and the generating unit includes laser and cylinder rib Mirror, diverging generation line-structured light after the laser beam oblique incidence cylindrical prism that the laser is sent.
- 6. the true scale three-dimensional rebuilding method according to claim 4 or 5 based on line-structured light and image information, it is special Sign is：The quantity of line-structured light in step 2) is four, and two of which line-structured light produces vertical optical plane, two other Line-structured light produces horizontal optical plane；Two vertical optical planes and two horizontal optical planes are jointly in object under test Surface Creation " well " font intersection figure.
- 7. the true scale three-dimensional rebuilding method according to claim 6 based on line-structured light and image information, its feature It is：Step 3) further include adjustment monocular camera the step of, adjust the distance between monocular camera and line-structured light generator and Angle so that the light that line-structured light produces is sent out close to the center of monocular camera, the then line-structured light after calibration adjustment Raw the distance between device and monocular camera and angle information.
- 8. the true scale three-dimensional rebuilding method according to claim 7 based on line-structured light and image information, its feature It is：Rotation angle in step 4) between the adjacent two images of shooting is less than 5 °.
- 9. the true scale three-dimensional rebuilding method according to claim 8 based on line-structured light and image information, its feature It is：The method that normalization Three-dimension Reconstruction Model is solved in step 5) comprises the following steps：5.1) characteristic point is extracted, and carries out Feature Points Matching；5.2) in the case of known monocular camera internal reference, the relative movement parameters between monocular camera and object under test are solved, Obtain sparse Three-dimension Reconstruction Model；5.3) dense normalization Three-dimension Reconstruction Model is obtained using dough sheet method.
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| CN109410325A (en) * | 2018-11-01 | 2019-03-01 | 中国矿业大学(北京) | A kind of pipeline inner wall three-dimensional reconstruction algorithm based on monocular image sequence |
| CN110335301A (en) * | 2019-06-14 | 2019-10-15 | 广州大学 | A kind of 3-D scanning method and device based on laser radar and structure light |
| WO2020038386A1 (en) * | 2018-08-22 | 2020-02-27 | 杭州萤石软件有限公司 | Determination of scale factor in monocular vision-based reconstruction |
| CN111028280A (en) * | 2019-12-09 | 2020-04-17 | 西安交通大学 | # -shaped structured light camera system and method for performing scaled three-dimensional reconstruction of target |
| CN113516775A (en) * | 2021-02-09 | 2021-10-19 | 天津大学 | Three-dimensional reconstruction method for acquiring stamp auxiliary image by mobile phone camera |
| CN116628897A (en) * | 2023-07-24 | 2023-08-22 | 憨小犀(泉州)数据处理有限公司 | Octagonal precious stone cutting model generation method |
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| CN113516775A (en) * | 2021-02-09 | 2021-10-19 | 天津大学 | Three-dimensional reconstruction method for acquiring stamp auxiliary image by mobile phone camera |
| CN116628897A (en) * | 2023-07-24 | 2023-08-22 | 憨小犀(泉州)数据处理有限公司 | Octagonal precious stone cutting model generation method |
| CN116628897B (en) * | 2023-07-24 | 2023-09-19 | 憨小犀(泉州)数据处理有限公司 | Octagonal precious stone cutting model generation method |
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