双目立体测量系统中的标记点配准算法研究  

Reference Point Based Registration Algorithm for Binocular Stereo Vision System

作　　者：韦虎[1] 刘胜兰[1] 张丽艳[1] 张辉[1] 

机构地区：[1]南京航空航天大学江苏省精密与微细制造技术重点实验室,南京210016

出　　处：《中国机械工程》2009年第14期1736-1740,共5页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(50875130);高等学校博士学科点专项科研基金资助项目(200802870016);江苏省科技支撑计划资助项目(BE2008136)

摘　　要：通过在双目立体测量系统中引入辅助标记点的方法来实现多视角深度图的配准,配准算法包括两部分:初配准和全局优化配准。提出一种递增式初配准算法,将多次测量结果逐次配准到同一坐标系中,然后对初配准结果进行全局优化。对基于奇异值分解的全局配准迭代算法进行改进:一是对重建误差较大的标记点进行自动加权,可有效降低全局配准误差;二是对全局配准的迭代顺序进行规划,在一些情形下可减少迭代收敛的次数。对多个实际模型的测量实验验证了算法的有效性。A multi- view range image registration algorithm based on reference points for binocular stereo vision system was introduced herein. The algorithm included two phases： crude registration and global registration. Firstly, an incremental crude registration method was proposed for registering each newly scanned range image into a common coordinate frame. Then an iterative algorithm using singular value decomposition for global registration was adapted to optimize the crude registration result. Two improvements for the global registration were carried out. One was to assign the weights to reference points automatically, which allowed the algorithm to decrease the global registration error effectively. Another one was to classify the types of registration network and did the iteration through a planned sequence so that the number of iterations can be decreased in some special cases. Experiments on real scanned data demonstrate the validity and efficiency of the algorithm.

关 键 词：双目立体测量 标记点 初配准 全局配准 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]