基于图像的危化品堆垛三维几何动态建模  

Three Dimensional Geometric Dynamic Modeling of Hazardous Chemicals Storage Based on Image

作　　者：戴波[1] 李雁飞[1] 安海洋[1,2] 周泽彧 刘学君[1] DAI Bo;LI Yan-fei;AN Hai-yang;ZHOU Ze-yu;LIU Xue-jun(College of Information Engineering,Beijing Institute of Petrochemical Technology,Beijing 102617,China;College of Information Science&Technology,Beying University of Chemical Technology,Beijing 100029,China)

机构地区：[1]北京石油化工学院信息工程学院,北京102617 [2]北京化工大学信息科学与技术学院,北京100029

出　　处：《控制工程》2020年第1期70-76,共7页Control Engineering of China

基　　金：国家重点研发计划课题（2016YFC0801502）;北京市教育委员会科技能力提升计划资助项目(PXM2016_014222_000041)

摘　　要：安全生产部门对危化品仓储堆垛五距(堆距、墙距、顶距、柱距和通道距)有严格的规定,通过对堆垛的三维动态几何建模描述其在仓库中位置的变化,可以达到动态的监管要求。提出了基于图像的堆垛三维几何动态建模,为建立像点与物点的对应关系,首先构建了五元组成像模型并提出了两点标定法,在标定好参数基础上首先求得物点坐标的解空间,再结合约束条件得到真实解空间,实现堆垛静态三维几何重建。然后对图像序列中堆垛箱体跟踪识别并三维几何重建,最终实现动态几何建模。Safety production supervision departments have strict regulations for the five-distance of the hazardous chemicals storage warehouse stacks(distance, pile wall distance, zenith distance, spacing and channel spacing), the dynamic supervision requirements can be achieved by describing the changes of the position of the stacks in the warehouse through the three-dimensional dynamic geometric modeling. Three-dimensional geometric dynamic modeling of the stacks based on image is proposed. In order to establish the corresponding relations between image points and objects, a five-element imaging model is constructed and two-point calibration method is proposed. On the basis of calibrating the parameters, the solution space of the coordinates of the point is obtained first, and then the real solution space is obtained by combining the constraint condition to realize the static three-dimensional geometric reconstruction of the stacks. Then, the stacks are identified and reconstructed in the image sequences, and the dynamic geometric modeling is realized.

关 键 词：五距 三维几何重建 五元组成像模型 两点标定法 动态几何建模 

分 类 号：TP1391[自动化与计算机技术—控制理论与控制工程]