CN109003294A - A kind of unreal & real space location registration and accurate matching process - Google Patents
A kind of unreal & real space location registration and accurate matching process Download PDFInfo
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- CN109003294A CN109003294A CN201810640281.5A CN201810640281A CN109003294A CN 109003294 A CN109003294 A CN 109003294A CN 201810640281 A CN201810640281 A CN 201810640281A CN 109003294 A CN109003294 A CN 109003294A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/006—Mixed reality
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/55—Depth or shape recovery from multiple images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
- G06T7/85—Stereo camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
- G06T2207/10012—Stereo images
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Abstract
The invention discloses a kind of unreal & real space location registrations and accurate matching process, comprising the following steps: carries out three-dimensional modeling to space using measuring tool, it is established that virtual space information；Real time scan is carried out to spatial information using binocular depth video camera, it is established that spatial information model；The object space of real time scan and shape information and the virtual space information of foundation are subjected to real-time matching；After location information successful match, the model that spatial information is established is obtained to binocular depth video camera using the accurate location information in Virtual Space and is corrected in real time；After the end of scan, the model established to real time scan is compared with the virtual space information established in advance, supplements the space without scanning.Compared with prior art, the spatial positional information of the method for the invention scanning is more accurate, and the time is shorter, and can predict unknown spatial information.
Description
Technical field
The present invention relates to spatial vision technical fields, it particularly relates to a kind of unreal & real space location registration and accurate
Method of completing the square, more particularly to space orientation and creation real-time three-dimensional space map.
Background technique
Enhance display field in AR, according to the available space map of SLAM technology and current visual angle, to superposition virtual object
Body does corresponding rendering, and doing so can make the dummy object of superposition seem that comparison is true, without indisposed sense.But pass through
The map that SLAM technology is established is influenced by factors such as sweep time, scanning space size and space complexities, is identified
Precision is low, and the data volume of real-time storage is big, can not carry out spatial prediction to the space that do not scan.
Summary of the invention
It is an object of the invention to propose a kind of unreal & real space location registration and accurate matching process, to overcome the prior art
Present in above-mentioned deficiency.
To realize the above-mentioned technical purpose, the technical scheme of the present invention is realized as follows:
A kind of unreal & real space location registration and accurate matching process, the method includes the following steps are included:
1) three-dimensional modeling is carried out to space using measuring tool, it is established that virtual space information；
2) real time scan is carried out to spatial information using binocular depth video camera, it is established that spatial information model；
3) object space of real time scan and shape information are subjected to real-time matching with the virtual space information of foundation in real time；
4) after location information successful match, space is obtained to binocular depth video camera using the accurate location information in Virtual Space
The model that information is established is corrected in real time；
5) after the end of scan, the model established to real time scan is compared with the virtual space information established in advance, and supplement does not have
There is the space that scanning is arrived.
Further, use the method for shape skeleton Rapid matching by the object space and shape of real time scan in step 3)
Information carries out real-time matching with the virtual space information of foundation in real time.
Beneficial effects of the present invention: the method for the invention is to carry out Dummy modeling to space, to having in Virtual Space
Effect factor carries out space registration, registers simultaneously to space factor information when live real time scan establishes model, and in real time
Real-time matching is carried out with Virtual Space log-on data, corrects the data that scanning obtains.After the end of scan, according to Virtual Space pair
The spatial model of real time scan carries out spatial prediction modeling.
Detailed description of the invention
Fig. 1 is head-up binocular stereo imaging schematic diagram；
Fig. 2 is the binocular stereo imaging schematic diagram at general visual angle.
Specific embodiment
With reference to the attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description.
A kind of unreal & real space location registration and accurate matching process described in embodiment according to the present invention, including following step
It is rapid:
The first step carries out three-dimensional modeling to space using accurate measuring tool.Coordinate origin and space coordinates are established, are stored
Information unit is rice.Modeling information includes the main information in space structure, such as the space structure in room, room length,
The position coordinates of the information such as desk, stool, vase within doors.Other than storage location coordinate, the shape of storage space information is needed
Size information, such as cylinder, cube.
Second step carries out real time scan to spatial information, and space real time scan can use the RGBD SLAM of depth camera
Technology.Using binocular stereo vision, object dimensional geological information is obtained by multiple image.From different perspectives simultaneously by twin camera
Two width digital pictures of surrounding scenes are obtained, or has and obtains the two of surrounding scenes from different perspectives in different moments by single camera
Width digital picture, and object dimensional geological information can be recovered based on principle of parallax, rebuild the 3D shapes of surrounding scenes with
Position.
The acquisition that three-dimensional information is carried out by trigonometry principle, i.e., between the plane of delineation and north side object by two video cameras
Constitute a triangle.Positional relationship between known two video cameras, can obtain object in two video camera public view fields
Three-dimensional dimension and space object characteristic point three-dimensional coordinate.
Specifically, as shown in Figure 1, for simple head-up binocular stereo imaging schematic diagram, the projection centre of two video cameras connects
The distance of line, i.e. parallax range B.Two video cameras watch the same characteristic point P of space-time object in synchronization, respectively at " left eye "
The image of point P is obtained on " right eye ", their coordinate is respectively Pleft=(Xleft, Yleft)；Pright=(Xright,
Yright).In the same plane by the image of fixed two video cameras, then the Y coordinate of the image coordinate of characteristic point P must be identical
, i.e. Yleft=Yright=Y.By the available following relational expression of triangle geometrical relationship:
Then parallax are as follows: Disparity=Xleft-Xright. is it is possible thereby to calculate three of characteristic point P under camera coordinate system
Tie up coordinate:
Therefore, complete as long as any point in left video camera image planes can find corresponding match point in right video camera image planes
The three-dimensional coordinate of the point can be determined entirely.This method is point-to-point operation, as in plane all the points simply by the presence of corresponding
Match point, so that it may above-mentioned operation is participated in, to obtain corresponding three-dimensional coordinate.
On the three-dimensional measurement basis for analyzing simplest head-up binocular stereo vision, we just have the ability now
To consider ordinary circumstance.As shown in Fig. 2, setting left video camera O-xyz is located at world coordinate system origin, and there is no rotation, figures
As coordinate system is Ol-X1Y1, effective focal length fl；Right camera coordinate system is Or-xyz, and image coordinate system Or-XrYr has
Effect focal length is fr.So according to the projection model of video camera, we can obtain following relational expression:
Because the positional relationship between O-xyz coordinate system and Or-xryrzr coordinate system can be indicated by space conversion matrix MLr
Are as follows:
Similarly, for the spatial point in O-xyz coordinate system, the corresponding relationship between two video camera millet cake can be indicated are as follows:
Then, spatial point three-dimensional coordinate can be expressed as
Therefore, as long as we obtain left and right computer intrinsic parameter/focal length fr, fl and spatial point on a left side by computer calibration technique
Image coordinate in right video camera, it will be able to reconstruct the three dimensional space coordinate of measured point.
Third step carries out the object space of real time scan and shape information real-time with the virtual space information of foundation in real time
Matching.Matching process is the technology according to shape skeleton Rapid matching, and the node of middle skeleton is as Shape Element, and between node
Relationship is for the matching between restraint joint between connection relationship becomes natural element.Since skeleton describes the structural information of object
And the geological information of body surface is ignored, just meeting the object space information that this real time scan obtains.With Virtual Space into
After row Rapid matching, the rough location matching of two spaces is obtained.
4th step after location information successful match, images binocular depth using the accurate location information in Virtual Space
Machine obtains the model that spatial information is established and is corrected in real time.The planes such as the ground, desktop, the ceiling that are identified when real time scan letter
Breath will by many triangle sets at, such storage occupied space is more, can direct memory plane, reduction redundant data storage.
5th step, after the end of scan, the model established to real time scan is compared with the Virtual Space established in advance, benefit
Fill the space that do not scan.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (2)
1. a kind of unreal & real space location registration and accurate matching process, which is characterized in that the described method comprises the following steps:
1) three-dimensional modeling is carried out to space using measuring tool, it is established that virtual space information；
2) real time scan is carried out to spatial information using binocular depth video camera, it is established that spatial information model；
3) object space of real time scan and shape information and the virtual space information of foundation are subjected to real-time matching；
4) after location information successful match, space is obtained to binocular depth video camera using the accurate location information in Virtual Space
The model that information is established is corrected in real time；
5) after the end of scan, the model established to real time scan is compared with the virtual space information established in advance, and supplement does not have
There is the space that scanning is arrived.
2. the method according to claim 1, wherein will using the method for shape skeleton Rapid matching in step 3)
The object space and shape information of real time scan carry out real-time matching with the virtual space information of foundation in real time.
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| CN110020624A (en) * | 2019-04-08 | 2019-07-16 | 石家庄铁道大学 | Image-recognizing method, terminal device and storage medium |
| CN110126824A (en) * | 2019-05-22 | 2019-08-16 | 河南工业大学 | A kind of commercial vehicle AEBS system of integrated binocular camera and millimetre-wave radar |
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