基于极线约束的水下目标激光重建方法  

Underwater Target Laser Reconstruction Method Based on Epipolar Constraint

作　　者：王姮[1] 徐鹏 林海涛 李永龙 李佳龙 陈海澜 王陶 Wang Heng;Xu Peng;Lin Haitao;Li Yonglong;Li Jialong;Chen Hailan;Wang Tao(School of Information Engineering,Southwest University of Science and Technology,Mianyang 621010,Sichuan,China;Sichuan Energy Internet Research Institute,Tsinghua University,Chengdu 610000,Sichuan,China)

机构地区：[1]西南科技大学信息工程学院,四川绵阳621010 [2]清华大学清华四川能源互联网研究院,四川成都610000

出　　处：《激光与光电子学进展》2024年第22期270-278,共9页Laser & Optoelectronics Progress

基　　金：国家重点研发计划(2022YFB4703404);四川省科技厅项目(2022JDRC0073)。

摘　　要：针对三维点云可视性差与光线折射导致点云重建精度低的问题,提出了基于极线约束的水下目标激光重建方法。通过点的对应关系得到仿射变换矩阵,实现“水下-陆上”图像仿射变换,削弱光线折射的影响,进而提升重建精度。利用极线约束原理改进激光特征点提取方法并完成点云着色,进一步提升重建精度。对比实验结果表明,所提方法的平均重建误差为0.459 mm,优于现有的三维重建算法,所提方法实现了水下目标重建精度提升与三维点云可视性的提升。To address the issue of low point-cloud reconstruction accuracy due to poor visibility and light refraction,a laser reconstruction method for underwater targets based on epipolar constraint is proposed.The proposed method uses point correspondence to obtain an affine transformation matrix,which facilitates the affine transformation of underwater images to land images,thereby mitigates the effects of light refraction and enhancing the reconstruction accuracy.The application of the epipolar constraint principle promotes laser feature point extraction and completes point cloud coloring,further increases the reconstruction accuracy.Comparative experimental results indicate that the average measurement error of the proposed method is 0.459 mm,outperforming the existing three-dimensional(3D)reconstruction methods.The proposed method achieves improvements in the accuracy of underwater target reconstruction and the visibility of 3D point clouds.

关 键 词：水下三维重建 仿射变换矩阵 极线约束 激光特征点提取 点云着色 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]