CN110517305B - Image sequence-based fixed object three-dimensional image reconstruction method - Google Patents
Image sequence-based fixed object three-dimensional image reconstruction method Download PDFInfo
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- G06T7/50—Depth or shape recovery
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Abstract
A three-dimensional image reconstruction method of a fixed object based on an image sequence comprises the steps of shooting a first frame of picture and a second frame of picture of the fixed object at different moments; obtaining a time difference between a first frame picture and a second frame picture according to the frame rate of the two-dimensional camera; obtaining the motion speed of the two-dimensional camera, combining the motion speed, time and displacement of the camera between the two frames and the view angle parameter of the camera, reversely deducing the distance between one point of the object body and the camera, and the height or length of the point of the object body in the direction vertical to the motion direction of the camera; and calculating all points of the fixed object in the image to obtain the distance between all the points and the two-dimensional camera and the length of each point relative to the motion track of the camera, so as to obtain the three-dimensional information of the body points of all the points in the image. The invention can use the common two-dimensional camera to reconstruct the three-dimensional image, has lower cost and is easy to popularize.
Description
Technical Field
The invention relates to the field of three-dimensional image imaging, in particular to a fixed object three-dimensional image reconstruction method based on an image sequence.
Background
In the current single-camera imaging technology, the obtained images are two-dimensional, and the distance between a certain point of an object body and a camera and the height or length parameters between the point of the object body and the motion direction of the camera cannot be accurately obtained from the images under the condition of not using other media. This is a great lack of information for the image, and how to obtain a corresponding three-dimensional image from a two-dimensional image is a big problem in the industry.
Therefore, the problems of the prior art are to be further improved and developed.
Disclosure of Invention
The object of the invention is: in order to solve the problems in the prior art, the present invention is directed to obtain parameters such as a distance parameter between a point of an object body in an image and a camera and an actual height length color of the point of the object body in a moving direction of the camera by calculating consecutive images obtained by a single camera in a moving state, and reconstruct a three-dimensional image of the object by calculating all points of the object.
The technical scheme is as follows: in order to solve the above technical problem, the present technical solution provides a method for reconstructing a three-dimensional image of a fixed object based on an image sequence, which is applied to a first frame of picture and a second frame of picture taken by a two-dimensional camera at different times for the fixed object; obtaining a time difference between a first frame of picture and a second frame of picture according to the frame rate of the two-dimensional camera;
obtaining the motion speed of the two-dimensional camera, and obtaining the time difference and displacement of the two-dimensional camera when the first frame of picture and the second frame of picture are obtained according to the motion speed of the two-dimensional camera;
according to the change of the size ratio of the object image of the fixed object in the first frame picture and the second frame picture, combining the motion speed, time and displacement of the camera between the two frames and the view angle parameters of the camera, reversely deducing the distance between one point of the object body and the camera and the height or length of the point of the object body in the direction vertical to the motion direction of the camera;
and calculating all points of the fixed object in the image to obtain the distance between all the points and the two-dimensional camera and the height or length of each point relative to the motion track of the camera, so as to obtain the three-dimensional information of the body points of all the points in the image.
The three-dimensional image reconstruction method is characterized in that the two-dimensional camera is a digital camera.
The three-dimensional image reconstruction method comprises the steps that the two-dimensional camera is connected with the three-dimensional acceleration sensor, a starting signal is sent to the three-dimensional acceleration sensor when a shutter of the two-dimensional camera is pressed down, the three-dimensional acceleration sensor starts to measure speed, and obtained acceleration data are sent to the speed processing unit; when the shutter of the camera is bounced, namely when photographing is finished, a closing signal is sent to the three-dimensional acceleration sensor.
The three-dimensional image reconstruction method is characterized in that the starting signal sent by the shutter carries the type of the shooting instruction and the image code.
The three-dimensional image reconstruction method comprises the steps that a two-dimensional camera is located at a distance L1 between the camera and a fixed object at the moment t1, the camera shoots an object to be detected to obtain a first frame of picture, the height d of the picture at the moment t1 is the height d1 of the picture of the object in the first picture at the moment t 1;
when the two-dimensional camera moves to the time t2, the distance between the camera and the object is L2; and the camera shoots the object to be detected to obtain a second frame of picture, the height d of the picture at the moment t2 is obtained, and the height of the picture of the object in the first picture at the moment t2 is d2.
The three-dimensional image reconstruction method comprises the steps that time difference between a first frame and a second frame is the frame number between the two frames multiplied by 1/f, and t1-t2= delta t is obtained; the distance difference L1-L2= v Δ t of the camera when two frames of images are captured is the displacement of the camera in the moving direction during the time Δ t.
The three-dimensional image reconstruction method comprises the steps of obtaining the maximum visual angle of an image point of the point in an image along the direction vertical to the motion direction of a camera, and defining the maximum visual angle as \1012.
The three-dimensional image reconstruction method is based on
The result of calculating the height H of the object.
The three-dimensional image reconstruction method is based on
Calculating the distance L1 between the object and the camera at the time t1, based on
And obtaining the distance L2 between the object and the camera at the time t 2.
(III) the beneficial effects are as follows: the invention provides a fixed object three-dimensional image reconstruction method based on an image sequence, which utilizes two-dimensional images shot by a camera on a fixed object at different moments, combines the speed of the camera at different shooting moments, the frame rate of the camera, the focal length, the visual angle and other data during shooting, and reversely deduces the distance between a certain point of an object body and the camera, and the height or the length of the certain point of the object body and the vertical direction of the motion of the camera; and (3) reconstructing a three-dimensional image by using the distance, height or length from different points of the object body to the camera.
Drawings
FIG. 1 is a diagram of the steps of a method for reconstructing a three-dimensional image of a stationary object based on an image sequence according to the present invention;
fig. 2 is a three-dimensional map image reconstruction diagram of the present invention.
Detailed Description
The invention will be described in further detail with reference to preferred embodiments thereof, and in the following description more details are set forth in order to provide a thorough understanding of the invention, but it will be apparent that the invention can be embodied in many other forms different from those described herein and that a person skilled in the art can make similar generalizations and deductions depending on the actual application without departing from the spirit of the invention, and therefore the scope of the invention should not be limited by the contents of this specific embodiment.
The drawings are schematic representations of embodiments of the invention, and it is noted that the drawings are exemplary only and are not drawn to scale and should not be considered as limiting the true scope of the invention.
The following describes a preferred embodiment of a method for reconstructing a three-dimensional image of a fixed object based on an image sequence according to the present invention.
The shooting frame rate of any camera is constant, that is, the camera obtains continuous images, and the time between each frame of image and a specific frame of image is constant. For example, if the frame rate is f, the time difference between frames is 1/f second.
The camera is a two-dimensional camera, the camera is connected with a three-dimensional acceleration sensor, and the speed of the camera is recorded in real time by using the three-dimensional acceleration sensor when the camera moves. The three-dimensional acceleration sensor may be disposed on the camera, or may be disposed on another device connected to the camera, such as an unmanned aerial vehicle, without limitation.
The shutter of the two-dimensional camera comprises an electronic shutter, a starting signal is sent to the three-dimensional acceleration sensor when the shutter is pressed down, the three-dimensional acceleration sensor starts to measure the speed, and the obtained acceleration data is sent to the speed processing unit. The speed processing unit calculates the speed of the camera according to the received acceleration measured by the acceleration sensor. When the shutter of the camera is bounced, namely when photographing is finished, a closing signal is sent to the three-dimensional acceleration sensor.
The process of pressing and bouncing the shutter can be shooting of a single picture, continuous pictures or video.
The starting signal sent by the shutter carries the type of shooting instructions, and the shooting instructions comprise shooting of a single picture, shooting of continuous pictures and shooting of videos. The invention can add the type of the shooting instruction at the head or the tail of the starting signal, and the shooting instruction can be a binary code without limitation.
And the three-dimensional acceleration sensor starts to work or stops working according to the received starting signal or closing signal. Firstly, the three-dimensional acceleration sensor receives a starting signal, extracts a shooting instruction from the starting signal, and records the speed or the acceleration according to a mode corresponding to the shooting instruction.
For example, the shooting instruction is a single picture, and the three-dimensional acceleration sensor records the speed or acceleration of the whole process of the starting signal and the closing signal as the acceleration or speed when the single picture is shot.
The starting signal or the closing signal not only comprises a shooting instruction, but also comprises an image code, and the image code corresponds to the shot pictures one by one. When a camera takes a picture, a unique one-to-one corresponding image code is set for the picture.
When the shooting instruction is a single picture, the acceleration and the speed of the shooting of the single picture and the image code are sent to the speed processing unit.
For example, the shooting instruction is shooting of continuous pictures, three-shot pictures are taken, the three-dimensional acceleration sensor records acceleration or speed by using continuous time intervals of the three-shot pictures according to the instruction of the continuous shooting, and image coding of the continuous pictures is added behind the continuous recording speed and the acceleration value. The speed or acceleration recorded by the three-dimensional acceleration sensor every time is connected with the image code, so that the image corresponds to the speed or acceleration during shooting.
For example, the shooting instruction is shooting of video, the three-dimensional acceleration sensor records speed or acceleration at fixed time intervals according to the frame rate of the camera, and adds image coding of the picture after the speed or acceleration of each frame of the video.
The speed processing unit of the invention starts to process the speed of the recording camera when the shutter of the camera is started, and after the shutter is started, if the moving speed of the camera is v, the moving displacement of the camera in the time interval of two frames is v/f.
The camera of the present invention may preferably be a two-dimensional camera, i.e. a digital camera, without limitation.
The invention relates to a fixed object three-dimensional image reconstruction method based on an image sequence and a camera, which specifically comprises the following steps as shown in figure 1:
1 is a certain point of a fixed object body to be measured at a distance, and the height of the fixed object body is H;2 is the camera position at the time t 1; 3 is the camera position at time t 2; 4 is a distance L1 between the camera and the object at the time t 1;5 is a distance L2 between the camera and the object at the moment t 2;6 is the height d of the object to be measured in the image direction at the moment t 1; 7 is the height d of the image in the direction of the object to be measured at the moment t 2; 8 is the image of the object in the image at the moment t1, the height is d1, and the height is d1; and 9 is the image of the object in the image at time t2, and the height is d2.
The method comprises the steps of taking the height of an object to be measured as H as an example, taking a shooting instruction as an example, continuously shooting two pictures, and carrying out three-dimensional image reconstruction, wherein a first frame is shot at the time of t1, and a second frame is shot at the time of t 2.
The method comprises the steps of firstly, the height H of an object body to be detected, the distance L1 between a camera and a fixed object at the moment t1, and at the moment t1, the camera shoots the object to be detected to obtain a first frame of picture, wherein the picture height d at the moment t1 is the height d1 of the object in the first picture at the moment t 1.
At the time t2, the camera takes a picture of the object to be detected to obtain a second frame of picture, the height d of the picture at the time t2, and the height of the picture of the object in the first picture at the time t2 is d2;
the heights of the images shot by the camera at different moments are the same, and the image height d at the moment t1 and the image height d at the moment t2 are d because the image heights are the same in the same video. The picture can be regarded as a rectangle, the width and the height of the picture can be correspondingly the length and the width of the rectangle, and 1600 × 1200 can be regarded as a rectangle with 1600 pixel points in length and 1200 pixel points in width. The height of the pixel point corresponding to the target point on the image is d1, the complete height of the whole image in the direction is d, and d1/d is the proportion of the whole image of the pixel point corresponding to the target point in the direction. The principle of photographing is the light value corresponding to all the target points on the photosensitive element. The optical signal is converted into an electrical signal by the photosensitive element, and then the electrical signal becomes data.
And thirdly, acquiring the time difference between two specific frames of images according to the frame rate of the digital camera, and acquiring the time difference and the displacement of the camera when the two frames of images are acquired according to the motion speed of the camera. By comparing the change of the size ratio of the object image in the two frames of images, combining the moving speed, time and displacement of the camera between the two frames and the view angle parameter of the camera, the distance between the point of the object body and the camera is reversely deduced, and the height or the length of the point of the object body in the direction perpendicular to the moving direction of the camera.
And step four, calculating all points in the image to obtain the distance between all the points and the camera and the length of each point relative to the motion track of the camera, so as to obtain the three-dimensional information of the body points of all the points in the image.
And fifthly, performing color rendering on the three-dimensional information of the image to finish the three-dimensional image reconstruction of the fixed object by using the two-dimensional images at different moments.
A first frame and a second frame, the time difference between the two frames is the difference in the number of frames between the two frames multiplied by 1/f, so t1-t2=Δt can be known. L1-L2= v Δ t, being the displacement of the camera in the direction of motion during the time Δ t.
The maximum visual angle between the camera and the motion direction of the camera in the point direction of the object to be detected is defined as 1012d.
At the moment t1, the camera is far away from an object L1, the height of the object imaged on an image is d1, and the height of the image is d; by time t2, the camera is at a distance L2 from the object, where the height of the object imaged on the image is d2, and the image height is still d. During this time, the speed of the camera is v, the elapsed time is t1-t2=Δt, and L1-L2= v Δ t. The maximum visual angle between the camera and the motion direction of the camera in the direction of the object to be detected is defined as \1012.
From the above data, the result of the object height H can be calculated:
that is, according to the size ratio of the point of the object in the image in the respective images, the camera speed, the time difference between two specific frames of images, and the view angle \1012betweenthe direction of the point of the object to be measured and the motion direction of the camera.
Similarly, from the data, the distance L1 between the object and the camera at the time t1 can be calculated:
similarly, the distance L2 between the object and the camera at the time t2 can also be obtained:
in this way, all points in the image are calculated to obtain the distances between all the points and the camera and the length of each point in the direction perpendicular to the motion trajectory of the camera, so that three-dimensional information of the body points of all the points in the image can be obtained, and the color values are added to complete the three-dimensional reconstruction of the object, as shown in fig. 2.
In order to obtain the distance parameter and the length height parameter of the object, the viewing angle of the digital camera is also needed. According to the focal length of the camera, the current visual angle of the digital camera can be read at any time, and if the visual angle is fixed, the digital camera can be directly used.
Since the camera is in motion, the fixed object changes relative to the camera distance, and thus the object body is not the same size in the two frame images obtained by the camera. The invention is to reversely deduce the distance between the point of the object body and the camera and the actual height or length of the point of the object body compared with the vertical direction of the camera movement through the size ratio of the image of the object in the image, the combination of the moving speed of the camera and the frame rate of the camera, and the focal distance and the view angle of the camera during shooting.
The invention provides a fixed object three-dimensional image reconstruction method based on an image sequence, which utilizes two-dimensional images shot by a camera on a fixed object at different moments, combines the speed of the camera at different shooting moments, the frame rate of the camera, the focal length and the visual angle during shooting and other data, and reversely deduces the distance between a certain point of an object body and the camera, and the height or the length of the point of the object body and the vertical direction of the motion of the camera; and (3) reconstructing a three-dimensional image by applying different points of the object body to the height and the length of the camera. The invention can utilize a common two-dimensional camera to reconstruct the three-dimensional image, has lower cost and is easy to popularize.
The above description is for the purpose of illustrating the preferred embodiments of the present invention and is intended to assist those skilled in the art in understanding the present invention more fully. However, these examples are merely illustrative, and the embodiments of the present invention are not to be considered as being limited to the description of these examples. It will be apparent to those skilled in the art that numerous, simple, and obvious alterations and modifications can be made without departing from the inventive concepts herein.
Claims (4)
1. A three-dimensional image reconstruction method of a fixed object based on an image sequence is applied to a first frame of picture and a second frame of picture which are shot by a two-dimensional camera at different moments of time for the fixed object; obtaining a time difference between a first frame picture and a second frame picture according to the frame rate of the two-dimensional camera;
obtaining the motion speed of the two-dimensional camera, and obtaining the time difference and displacement of the two-dimensional camera when the first frame of picture and the second frame of picture are obtained according to the motion speed of the two-dimensional camera;
according to the change of the size ratio of the object image of the fixed object in the first frame picture and the second frame picture, combining the motion speed, time and displacement of the camera between the two frames and the view angle parameters of the camera, reversely deducing the distance between one point of the object body and the camera and the height or length of the point of the object body in the direction vertical to the motion direction of the camera;
calculating all points of a fixed object in an image to obtain the distance between all points and the two-dimensional camera and the height of each point relative to a motion track vertical to the camera, and obtaining three-dimensional information of body points of all points in the image;
the two-dimensional camera takes a picture of an object to be detected at a distance L1 between the camera and a fixed object at the moment t1 to obtain a first frame of picture, the image height d at the moment t1 is obtained, and the image height of the object in the first picture at the moment t1 is d1; shooting a second frame image at the time t2, wherein the distance between the camera and the object is L2; the image height d at the time t2, and the height of the image of the object in the first picture at the time t2 is d2;
the time difference between the two frames is the frame number between the two frames multiplied by 1/f to obtain t1-t2 =deltat; when two frames of images are shot, the distance difference L1-L2= v Δ t of the camera is the displacement of the camera in the motion direction within the time Δ t;
acquiring the maximum visual angle of the point in the image along the direction vertical to the motion direction of the camera, and defining the maximum visual angle as theta; according to
Calculating the result of the height H of the object;
according to
Calculating the distance L1 between the object and the camera at the time t1, based on
And obtaining the distance L2 between the object and the camera at the time t 2.
2. The method of claim 1, wherein the two-dimensional camera is a digital camera.
3. The three-dimensional image reconstruction method according to claim 1, wherein the two-dimensional camera is connected with a three-dimensional acceleration sensor, a starting signal is sent to the three-dimensional acceleration sensor when a shutter of the two-dimensional camera is pressed down, the three-dimensional acceleration sensor starts to measure speed, and obtained acceleration data are sent to the speed processing unit; when the shutter of the camera is bounced, namely the shooting is finished, a closing signal is sent to the three-dimensional acceleration sensor.
4. The method according to claim 3, wherein the shutter-sent activation signal carries a type of shooting instruction and an image code.
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