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一种极线近似的双目结构光相位立体匹配方法

唐笑虎 胡丹 刘凯

唐笑虎, 胡丹, 刘凯. 一种极线近似的双目结构光相位立体匹配方法[J]. 强激光与粒子束. doi: 10.11884/HPLPB202234.220102
引用本文: 唐笑虎, 胡丹, 刘凯. 一种极线近似的双目结构光相位立体匹配方法[J]. 强激光与粒子束. doi: 10.11884/HPLPB202234.220102
Tang Xiaohu, Hu Dan, Liu Kai. A phase stereo matching method based on integrated epipolar line using binocular structured light[J]. High Power Laser and Particle Beams. doi: 10.11884/HPLPB202234.220102
Citation: Tang Xiaohu, Hu Dan, Liu Kai. A phase stereo matching method based on integrated epipolar line using binocular structured light[J]. High Power Laser and Particle Beams. doi: 10.11884/HPLPB202234.220102

一种极线近似的双目结构光相位立体匹配方法

doi: 10.11884/HPLPB202234.220102
详细信息
    作者简介:

    唐笑虎,scu_xiaohutang@163.com

    通讯作者:

    胡 丹,demyd03@163.com

  • 中图分类号: TP391

A phase stereo matching method based on integrated epipolar line using binocular structured light

  • 摘要: 针对双目结构光三维重建中的相位立体匹配效率较低问题,提出了一种极线近似的快速匹配方法。首先依据两相机光心与左像素形成平面与右成像平面交线对极线进行描述;对每行像素中部分区域的对应极线进行近似,结合立体视觉的连续性约束,使得孤立的沿各自极线搜索匹配相位改为区域内沿近似极线连续搜索匹配相位;同时结合双目相机位姿特性,实现全局均匀分区,避免针对每行数据重复分区;计算过程中采用查表法辅助计算。实验结果表明,立体匹配后获得点云平均误差为0.436 mm,属可接受误差范围内,立体匹配计算速度平均提升10.18倍,对640×480尺寸图像可在17 ms内完成立体匹配,可应用于结构光实时三维重建。
  • 图  1  双目结构光重建系统

    Figure  1.  Binocular structured light 3D reconstruction system

    图  2  对极几何示意[18]

    Figure  2.  Diagram of epipolar geometry[18]

    图  3  相位插值示意图[18]

    Figure  3.  Linear interplation for phase[18]

    图  4  水平相移条纹图像使得相位单调方向与极线方向一致

    Figure  4.  Horizontal phase shift fringe align with the phase monotonicity direction and epipolar line of phase image

    图  5  极线区域分段示意图

    Figure  5.  The region divided by integrated epipolar line

    图  6  极线区域分段示意图

    Figure  6.  The region divided by integrated epipolar line using unified partitioning policy

    图  7  不同方法重建结果

    Figure  7.  3D reconstruction of plaster statue

    表  1  不同分辨率匹配时间对比

    Table  1.   Matching time spent comparison of different resolution

    resolutionoriginal time spent/simproved time spent/senhancing rate
    640×4800.2230.01712.72
    1280×10241.0080.1099.29
    2448×20483.2560.32410.05
    下载: 导出CSV

    表  2  不同场景匹配时间对比

    Table  2.   Matching time spent compare of different scene

    resolutionoriginal time spent/simproved time spent/senhancing rate
    Wall0.2500.0318.06
    Scene 10.2230.01712.72
    Scene 20.1560.0169.75
    下载: 导出CSV

    表  3  不同分辨率重建点云差分对比

    Table  3.   Difference of 3D reconstruction point cloud of different resolution

    resolutionaverage/mmstandard deviation/mm
    640×4800.4360.316
    1280×10240.3390.296
    2448×20480.2210.346
    下载: 导出CSV
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出版历程
  • 收稿日期:  2022-04-09
  • 录用日期:  2022-05-31
  • 修回日期:  2022-05-25
  • 网络出版日期:  2022-07-22

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