基于ToF相机的三维重建技术  

3D RECONSTRUCTION BASED ON TOF CAMERA

作　　者：贾佳璐 应忍冬[1] 潘光华 郭维谦 刘佩林[1] Jia Jialu;Ying Rendong;Pan Guanghua;Guo Weiqian;Liu Peilin(School of Electronics Information and Electrical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海交通大学电子信息与电气工程学院,上海200240

出　　处：《计算机应用与软件》2020年第4期127-131,共5页Computer Applications and Software

基　　金：上海市科学技术委员会科研计划项目(17511108605)。

摘　　要：针对利用ToF相机实现物体的重建提出一种新的三维重建算法,通过分析物体重建过程的特点,对KinectFusion的重建算法进行改进。点云匹配过程包括粗匹配和精匹配两个过程,最后进行全局优化,提高相机位姿估计的精度,从而得到更精确的三维重建结果。利用泊松重建算法重建物体表面,相比于TSDF算法,能够实现完整表面的重建。提出结合强度图对深度图进行多边滤波的算法以及一种新的补空洞法则,增强深度图像。多边滤波算法在PSNR和SSIM的评估中都优于双边滤波结果,提出的三维重建算法与KinectFusion三维重建结果对比,表面更完整,重建结果更优。This paper mainly proposes a new 3D reconstruction algorithm for object reconstruction using ToF camera.By analyzing the characteristics of the object reconstruction process,we improve the reconstruction algorithm of KinectFusion.The process of point cloud matching includes two processes:rough matching and fine matching,and finally we perform global optimization for better result.We could obtain more accurate 3D reconstruction results by improving the estimation accuracy of the camera poses.Compared with TSDF algorithm,the whole surface was reconstructed by using poisson reconstruction algorithm,which could realize the reconstruction of the complete surface.This paper proposes an algorithm for multilateral filtering of depth maps by combining intensity maps and a new filling holes rule to enhance the depth image.The multilateral filtering algorithm is superior to the bilateral filtering results in the evaluation of PSNR and SSIM.Compared with the KinectFusion 3D reconstruction results,our algorithm has more complete surface and better reconstruction results.

关 键 词：三维重建 多边滤波 迭代最近点 泊松重建 深度图补空洞 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]