基于三焦点张量的特征点三维重建方法

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	基于三焦点张量的特征点三维重建方法
	赵吉宾; 夏仁波; 刘伟军; 黄以君
	2010-06-23
专利国别	中国
专利号	CN101750029A
专利类型	发明
产权排序	1
权利人	中国科学院沈阳自动化研究所
其他题名	Characteristic point three-dimensional reconstruction method based on trifocal tensor
中文摘要	本发明涉及一种基于三焦点张量的特征点三维重建方法,包括以下步骤:在被测物体表面设置编码点、标记点及标尺;用数码相机多角度拍摄被测物照片输入到计算机进行图像处理得到图像中的坐标{xd,x′d,x″d};根据上述图像坐标{xd,x′d,x″d}所有图像进行重新排序并进行归一化处理;分别计算各组图像的三焦点张量,确定编码点和标记点的三维点坐标;将各组三维点坐标得到各点在统一坐标系下的三维点坐标(x,y,z);根据标尺计算长度和实际长度的比值得到度量空间下的新三维点坐标(x’,y’,z’);集束调整上述新三维点坐标(x’,y’,z’),得到整体优化的三维点坐标。本发明三维点的计算精度高,使用简单、便于操作,只需一台便携式数码相机、一台普通的笔记本电脑、一组编码点和标记点以及一根标尺。
是否PCT专利	否
英文摘要	The invention relates to a characteristic point three-dimensional reconstruction method based on trifocal tensor, which includes the following steps: coding points, marking points and a ruler are arranged on the surface of the measured object a digital camera is used to take photos of the measured object in multiple angles, and the photos are inputted to a computer for image processing to obtainthe image coordinates (xd, x'd and x''d) all images are rearranged for normalization treatment according to the image coordinates (xd, x'd and x''d) the trifocal tensor of each group of images is respectively calculated to determine the three-dimensional point coordinates of the coding points and the marking points each group of three-dimensional point coordinates is processed to obtain the three-dimensional coordinates (x, y and z) of each point in the unified coordinate system the specific value of the length and the actual length is calculated through the ruler to obtain new three-dimensional point coordinates (x', y' and z') in metric space the new three-dimensional point coordinates (x', y' and z') receive focusing control to obtain integrally optimized three-dimensional point coordinates. The three-dimensional reconstruction method in the invention has high calculation accuracy, simple use, convenient operation, needs only a portable digital camera, a common laptop, a groupof coding points and marking points, and a ruler.
公开日期	2011-06-08
申请日期	2008-12-10
语种	中文
专利申请号	CN200810229516.8
专利代理	沈阳科苑专利商标代理有限公司 21002
内容类型	专利
源URL	[http://ir.sia.ac.cn/handle/173321/13329]
专题	沈阳自动化研究所_装备制造技术研究室
推荐引用方式 GB/T 7714	赵吉宾,夏仁波,刘伟军,等. 基于三焦点张量的特征点三维重建方法. CN101750029A. 2010-06-23.