双视系统的室内三维场景重建研究  

Study on Reconstruction of Indoor 3D Scene Based on Binocular Vision

作　　者：陈颖 赵来旺 詹洪陈[1] 丁尧[1] CHEN Ying;ZHAO Lai-wang;ZHAN Hong-chen;DING Yao(Jinling College,Nanjing University,Nanjing 210089,China)

机构地区：[1]南京大学金陵学院,南京210089

出　　处：《计算机科学》2020年第S02期175-177,共3页Computer Science

基　　金：江苏省高校自然科学研究基金(BK20151299)。

摘　　要：在早期三维场景重建中,受硬件条件的限制,无法很好地对场景进行三维重建。随着硬件的更新迭代,目前可利用结构光和双视系统进行更加高效的三维场景重建。以ZED双目相机和捷宝AD-10电动云台构建硬件平台,通过双目相机获得场景的点云信息,基于全局SBGM(Semi-Global Block Matching)算法的立体匹配和RGB-D图(Red Green Blue Depth Map)的生成来进行单一场景点云重建,并通过ORB特征匹配和ICP(Iterative Closest Point)点云配准融合,实现对室内场景的全景三维重建。实验对比了双目立体视觉的场景重建在过远/过近目标、低纹理特征目标、玻璃等材质目标上的优势,同时在点云的三维场景重建中,提出通过稀疏化来优化点云信息,对比单一采集与多次采集的重建效果。经过实验,该系统在折中采用次数的前提下,可以兼顾场景重建细节与显示效果,并对不同场景目标的三维重建具有实际的工程借鉴意义和应用价值。In the early three-dimensional scene reconstruction,due to hardware constraints,it can not be very good for the three-dimensional reconstruction of the scene.With the hardware update iteration,at present,the structured light and dual vision system is used for for more efficient three-dimensional scene reconstruction.The hardware platform is built with zed binocular ca-mera and jabao Ad-10 electric cloud platform,and the point cloud information of the scene is obtained through binocular camera.Based on the stereo matching of the global sbgm(semi global block matching)algorithm and the red green blue depth map generation,the single scene cloud reconstruction is carried out,and through the orb feature matching and ICP(iterative closure Point)point cloud registration and fusion can realize panoramic 3D reconstruction of indoor scene.The experiment compares the advantages of binocular stereo vision scene reconstruction in far/near targets,low texture feature targets,glass and other material targets.At the same time,in the three-dimensional scene reconstruction of point cloud,this paper proposes to optimize the point cloud information through sparseness,and compares the reconstruction effect of single acquisition and multiple acquisition.After the experiment,the system can give consideration to the details of scene reconstruction and the display effect under the premise of the eclectic number of times,and it can be used for reference and application value for 3D reconstruction of different scene targets.

关 键 词：三维场景重建 双目视觉 全景场景重建 PCL ICP 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]