基于光学偏振成像的低纹理目标三维重建算法  

A Polarization Imaging Based 3D Reconstruction Algorithm for Textureless Objects

作　　者：彭群聂 高海峰 张生伟[1,2] 李宁 李大雷[1,2] 揭斐然 PENG Qun-nie;GAO Hai-feng;ZHANG Sheng-wei;LI Ning;LI Da-lei;JIE Fei-ran(Science and Technology on Electro-Optic Control Laboratory,Luoyang 471000,China;Luoyang Institute of Electro-Optic Equipment,AVIC,Luoyang 471000,China;Automation School,Northwestern Polyteehnieal University,Xi'an 710129,China)

机构地区：[1]光电控制技术重点实验室,河南洛阳471000 [2]中国航空工业集团公司洛阳电光设备研究所,河南洛阳471000 [3]西北工业大学自动化学院,西安710129

出　　处：《电光与控制》2018年第12期49-52,58,共5页Electronics Optics & Control

基　　金：国家自然科学基金(61371152)

摘　　要：针对于视觉任务中表面光滑、低纹理的目标,由于其结构纹理信息的缺乏及高反光的特性,传统三维重建算法无法恢复物体有效的表面形状特征,提出了基于光学偏振成像的低纹理目标三维重建算法。该算法不依赖于目标表面的结构纹理信息,以求解Stokes参数来量化目标表面反射光偏振态,而后结合偏振—几何空间分析,估计目标表面的法向量分布,最后提出了多尺度Shapelets算子将法向量信息积分获取目标的有效深度信息,恢复目标的三维形状。实验结果表明,针对低纹理的高反光目标,该算法能快速准确地恢复其表面的三维形态,并且有效抑制镜面耀光和噪声的干扰,算法实时性高。For textureless objects with smooth surfaces in vision tasks, conventional three-dimensional reconstruction methods cannot retrieve the valid shape information of surfaces due to the loss of structuretexture features and the high reflectance. This paper presents a 3 D reconstruction algorithm for textureless objects based on optical polarization imaging, which does not rely on the structure-texture features of objects.Stokes vector is calculated to quantify the polarization states of the surface reflected light. Then, based on the analysis of polarimetric-geometric space, the normal distribution of surface is effectively estimated. Finally,the multi-scale Shapelets blank operator is applied to integrate the normal vector to derive the accurate depth information of the objects. Experiments show that the proposed method can obtain the correct 3 D shape reconstruction results, especially for high-reflective objects with less texture features. Meanwhile, the proposed technique can suppress the specular highlight and noise, with high computational efficiency.

关 键 词：三维重建 偏振成像 低纹理目标 Stokes参数 多尺度Shapelets 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]