基于双目立体视觉的实验室波浪场实时重建  

Real-time reconstruction of wave field in laboratory based on binocular stereo vision

作　　者：李德玉 肖龙飞[1,2] 魏汉迪 LI De-yu;XIAO Long-fei;WEI Han-di(State Key Laboratory and Ocean Engineering,Shanghai Jiao Tong University,Shanghai 200240,China;SJTU Yazhou Bay Institute of Deepsea Sci-Tech,Sanya 572024,China)

机构地区：[1]上海交通大学海洋工程国家重点实验室,上海200240 [2]上海交通大学三亚崖州湾深海科技研究院,海南三亚572024

出　　处：《船舶力学》2024年第10期1463-1471,共9页Journal of Ship Mechanics

基　　金：国家自然科学基金资助项目(52031006,51879158);浦东新区科技发展基金资助项目(PKX2020-R05);上海市扬帆计划项目(20YF1419800)。

摘　　要：准确测量波浪场演化对于海洋结构物的水动力研究十分重要。本文基于双目立体视觉建立了一套用于测量室内波浪的图像识别方法,以轻质泡沫作为示踪粒子标记波面以获得具有丰富纹理的波面图像,根据极线约束矫正图像,使用阈值分割避免光照不均和水底反射的干扰,使用GPU加速的立体视觉匹配算法,实现波浪图像的实时立体匹配,重建出波面的三维点云与网格模型。通过对图像序列的重建,提取出的波浪时历与浪高仪的测量结果基本一致,波高以及周期值的吻合性良好。结果表明,该方法可以准确测量实验室内的三维波浪场,捕捉瞬时波浪演化,并可提供实时的监控。The accurate measurement of wave evolution is fundamental for the hydrodynamic studies of marine structures.An image-based method was proposed to measure waves in the laboratory based on binocular stereo vision.The light foam particles were used as trackers to mark wave surface for obtaining the wave images with sufficient textures.The images were rectified based on epipolar constraint,and threshold segmentation was used to avoid the interference of uneven light and bottom reflection.A stereo matching algorithm with GPU acceleration was used to achieve the real-time matching of wave images,obtaining the point cloud and mesh of the wave surface.Through the reconstruction of the image sequences,the wave time series,wave heights and periods were extracted.They were then compared with the measurements by wave probes,showing great agreements.The results indicate that the proposed method can accurately measure the 3D wave field in the laboratory,capturing the instantaneous evolution of wave and providing real-time monitoring.

关 键 词：波浪测量 实时三维重建 双目视觉 立体匹配 图像处理 

分 类 号：P753[交通运输工程—港口、海岸及近海工程]