邻图配对式运动恢复结构的欧式三维重建  

Euclidean 3D reconstruction based on structure from motion of matching adjacent images

作　　者：汪侃 龚俊 魏敬和 朱策 刘凯[1] Wang Kan;Gong Jun;Wei Jinghe;Zhu Ce;Liu Kai(College of Electrical Engineering,Sichuan University,Chengdu 610065,China;Chengdu Product Quality Supervision and Inspection Institute,Chengdu 610199,China;China Key System&Integrated Circuit Co.,LTD.,Wuxi 214072,China;School of Information and Communication Engineering,University of Electronic Science and Technology of China,Chengdu 611731,China)

机构地区：[1]四川大学电气工程学院,四川成都610065 [2]成都市产品质量监督检验院,四川成都610199 [3]中科芯集成电路有限公司,江苏无锡214072 [4]电子科技大学信息与通信工程学院,四川成都611731

出　　处：《红外与激光工程》2020年第6期130-137,共8页Infrared and Laser Engineering

基　　金：国家自然科学基金(NSFC61473198);四川省科技厅重点研发项目(2020YFG0029)。

摘　　要：传统增量式运动恢复结构重建易受到尺度变化的影响,重建出的点云存在分层现象,并且不存在量纲。通过改进重建拓扑结构和尺度迭代最近点算法,提出了一种新的欧式三维重建方法。首先,设计了两两相邻图片重建点云后并入主点云的重建拓扑结构;然后,建立了对应表,旨在找到同一世界点在新建点云和主点云下的对应三维点对;接着,结合Geman-McClure范数,提出了抗噪声的尺度迭代最近点求解算法;最后,设置地面控制点,为重建出的点云引入尺度。实验结果表明,提出方法重建出的点云比传统增量式运动恢复结构重建出的点云更精确,并且点云长度的测量绝对误差在1%~2%左右。提出方法适用于近场景物体较精确的欧式三维重建。Traditional incremental structure from motion is susceptible to scale change,and the reconstructed point cloud is hierarchical and has no units.A new Euclidean 3 D reconstruction method was proposed by improving the reconstruction topology and the scaling iterative closest point algorithm.First,a new reconstruction topology,reconstructing a point cloud from two adjacent pictures and then merging it into the main point cloud,was presented;then,corresponding tables were established aiming to find the corresponding 3 D point pairs of a world point between the newly created point cloud and the main point cloud;subsequently,combining GemanMcClure norm,an anti-noise scaling iterative closest point method was proposed;finally,ground control points were set up to introduce scale for the reconstructed point cloud.Experiment results show that the point cloud reconstructed by proposed method is more accurate than that reconstructed by traditional incremental structure from motion,and the absolute error of length for the point cloud is about 1%-2%.The proposed method is suitable for precise Euclidean reconstruction of objects in close scene.

关 键 词：邻图配对式运动恢复结构 对应表 抗噪声的尺度迭代最近点 欧式三维重建 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]