Reconstruction of Implicit Surfaces from Uncalibrated Camera Image Sequences
-
摘要: 为了提高未标定图像序列三维重建得到的几何模型的质量,提出特征点检测算法,以得到更多的匹配点.其主要思想是在首帧图像指定密集的网格,在网格点附近确定最容易跟踪的特征点,利用迭代方法得到子像素精度的特征点坐标,然后用稀疏特征集的金字塔Lucas-Kanade光流跟踪算法跟踪这些特征点,再用自标定算法,重建出相对均匀和稠密的三维点云,最后利用基于径向基函数(RBF)的隐式曲面重建算法,生成目标的表面模型.多个图像序列的重建结果表明,本方法对纹理丰富的场景能够获得较好的重建结果.Abstract: To improve the quality of 3D geometric models reconstructed from uncalibrated image sequences,a feature tracking algorithm was proposed to match more points among a sequence of images.In the algorithm,a dense grid in the first frame is drawn,and easily tracked feature points near the grid points are determined.The sub-pixel coordinates of the feature points are found by iteration.The optical flow for this sparse feature set is calculated using iterative Lucas-Kanade method in pyramids.An even and dense 3D point-cloud is reconstructed with a self-calibration algorithm.Finally,an RBF (radial basis function) implicit surface reconstruction was applied to generate the surface model of the object.By experimenting with a number of image sequences,the reconstruction results show that the algorithm can obtain satisfactory surfaces for images with rich texture.
-
SCHARSTEIN D,SZELISKI R.High-accuracy stereo depth maps using structured light[C] ∥Proceedings of the 2003 IEEE Conference on Computer Vision and Pattern Recognition.Madison:IEEE Press,2003:195-202.[2] 张爱武,胡少兴,孙卫东,等.基于激光与可见光同步数据的室外场景三维重建[J].电子学报,2005,33(5):810-815.ZHANG Aiwu,HU Shaoxing,SUN Weidong,et al.3D reconstruction of outdoor scenes from synchronized laser range data and visual image data[J].Acta Electronica Sinica,2005,33(5):810-815.[3] POLLEFEYS M,GOOL L V,VERGAUWEN M,et al.Visual modeling with a hand-held camera[J].International Journal of Computer Vision,2004,59(3):207-232.[4] TAYLOR C J.Surface reconstruction from feature based stereo[C] ∥Proceedings of 9th International Conference on Computer Vision 2003.Nice:IEEE Press,2003:184-190.[5] RODRIGUEZ T,STURM P,WILCZKOWIAK M,et al.VISIRE:photorealistic 3D reconstruction from video sequences[C] ∥Proceedings of IEEE International Conference on Image Processing.Barcelona:IEEE Press,2003:705-708.[6] GOESELE Michael,SNAVELY Noah,CURLESS Brian,et al.Multi-view stereo for community photo collections[C] ∥Proceedings of 11th IEEE International Conference on Computer Vision.Rio de Janeiro:IEEE Press,2007:14-20.[7] LHUILLIER M,QUAN L.A quasi-dense approach to surface reconstruction from uncalibrated images[J].IEEE Transaction on Pattern Analysis and Machine Intelligence,2005,27(3):418-433.[8] 吴玲达,邓宝松,高宇,等.基于近似相机内参数的精确三维欧氏重建算法[J].系统仿真学报,2007,19(10):2235-2240.WU Lingda,DENG Baosong,GAO Yu,et al.Accurate 3D Euclidean reconstruction based on approximate camera internal parameters[J].Journal of System Simulation,2007,19(10):2235-2240.[9] CARR J C,BEATSON R K,CHERRIE J B,et al.Reconstruction and representation of 3D objects with radial basis functions[C] ∥ACM Siggraph 2001.Los Angeles,Springer Press,2001:67-76.[10] SHI J,TOMASI C.Good features to track[C] ∥Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.Seattle,IEEE Press,1994:593-600.[11] BOUGUET J Y.Pyramidal implementation of the Lucas Kanade feature tracker:description of the algorithm[R].Santa Clara:Intel Microprocessor Research Labs,1999.[12] TSAI R Y.An efficient and accurate camera calibration technique for 3D machine vision[C] ∥Proceedings of IEEE Conference on Computer Vision and Pattern Recognition,Miami Beach,IEEE Press,1986:364-374.[13] MICCHELLI C A.Interpolation of scattered data:distance matrices and conditionally positive definite functions[J].Constructive Approximation,1986,9(2):11-22.[14] MA Yi,SOATTO Stefano,KOSECKA Jana,et al.An invitation to 3-D vision:from images to geometric models[M].New York:Springer Verlag,2003:375-410.
点击查看大图
计量
- 文章访问数: 1614
- HTML全文浏览量: 59
- PDF下载量: 588
- 被引次数: 0