高精度抗遮挡的四目相机三维重建系统  

High-precision occlusion-resistant quad-vision camera 3D reconstruction system

作　　者：陈鹏 刘慧婷 张磊 王克逸[1] 蔡柏林 CHEN Peng;LIU Huiting;ZHANG Lei;WANG Keyi;CAI Bolin(Department of Precision Machinery and Precision Instrumentation,University of Science and Technology of China,Hefei 230026,China;School of Internet,Anhui University,Hefei 230039,China)

机构地区：[1]中国科学技术大学精密机械与精密仪器系,安徽合肥230026 [2]安徽大学互联网学院,安徽合肥230039

出　　处：《应用光学》2024年第2期307-313,共7页Journal of Applied Optics

基　　金：国家自然科学基金(52105538,61935008)。

摘　　要：多目相机用于三维重建能够提升精度,克服遮挡,可多方位获取目标的三维位置。为了更准确地恢复目标在空间中的分布情况,介绍了一种汇聚式四目相机三维重建系统。设计和搭建了围绕目标场景均匀分布四相机的重建平台,立体标定出相邻相机的相对位姿后,借助坐标系变换,获取每个相机在统一坐标系中的位置和姿态,并用传递次数最多的机位进行检验。检验结果表明,测量出的位姿与经过传递推导的位姿一致。对66×65阵列的棋盘标靶进行重建,在45 mm范围内最大相对误差为0.061%;与拟合结果相比较,均方根误差为0.319 3μm。使用金属块进行重建实验,能够通过其顶点恢复出形貌。实验结果表明,该装置能够用于高精度抗遮挡的三维重建系统中。Multi-camera for 3D reconstruction can improve the accuracy and overcome occlusion,allowing for the acquisition of 3D position of targets from multiple viewpoints.In order to more accurately recover the distribution of targets in space,a convergent quad-vision camera 3D reconstruction system was introduced.A reconstruction platform was designed and built with four cameras evenly distributed around the target scene.After calibrating the relative pose of adjacent cameras in the system,the position and pose of each camera in a unified coordinate system were obtained through coordinate system transformation.The pose of the camera with the most transformations was verified,and the measurement results were consistent with those derived from transformation.A chessboard target array of size 66×65 was reconstructed,with a maximum relative error of 0.061%within a range of 45 mm.Compared with the fitted results,the root-mean-square(RMS)error was 0.3193μm.By using a metal block for reconstruction experiments,the shape could be recovered through its vertices.Experimental results show that the device can be used in high-precision and occlusion-resistant 3D reconstruction systems.

关 键 词：三维重建 四目相机 立体标定 抗遮挡 

分 类 号：TN911.73[电子电信—通信与信息系统] TP302.7[电子电信—信息与通信工程]