基于秩1约束的三维重建方法

假设相机为正投影模型,提出了一种基于秩1约束的三维重建方法,该方法并不是直接求解空间结构点和投影矩阵,而是求解空间结构点的深度及投影矩阵。本文利用空间结构点可以由第1幅图像点及深度构成的特性,构造了一个秩为1的矩阵,利用该矩阵求取空间结构点的深度,最后完成三维重建。模拟实验和真实实验数据结果表明,该重建方法具有较高的重建精度。      

Opti-Acoustic Stereo Imaging: On System Calibration and 3-D Target Reconstruction

Utilization of an acoustic camera for range measurements is a key advantage for 3-D shape recovery of underwater targets by opti-acoustic stereo imaging, where the associated epipolar geometry of optical and acoustic image correspondences can be described in terms of conic sections. In this paper, we propose methods for system calibration and 3-D scene reconstruction by maximum likelihood estimation from noisy image measurements. The recursive 3-D reconstruction method utilized as initial condition a closed-form solution that integrates the advantages of two other closed-form solutions, referred to as the range and azimuth solutions. Synthetic data tests are given to provide insight into the merits of the new target imaging and 3-D reconstruction paradigm, while experiments with real data confirm the findings based on computer simulations, and demonstrate the merits of this novel 3-D reconstruction paradigm.      

Image-based rendering of complex scenes from a multi-camera rig

Image-based rendering is a method to synthesise novel views from a set of given real images. Two methods to extrapolate novel views of complex scenes with occlusions and large depth discontinuities from images of a moving uncalibrated multi-camera rig are described. The real camera viewpoints are calibrated from the image data and dense depth maps are estimated for each real view. Novel views are synthesised from this representation with view-dependent image-based rendering techniques at interactive rates. Since the 3D scene geometry is available in this approach, it is well suited for mixed reality applications where synthetic 3D objects are seamlessly embedded in the novel view.     

基于虚拟双目的条纹结构光三维重建

为解决传统双目条纹结构光三维重建存在的同步性和成本高等问题,提出了基于虚拟双目的条纹结构光三维重建方法。采用单相机和两块双棱镜及投影仪设计了具有双目视觉功能的虚拟双目条纹结构光三维重建系统。通过双棱镜折射和分光改变被测对象表面反射光的路径,使用一个相机同时完成多视角的图像采集。通过多频外差法和立体匹配、双目标定得到被测对象的深度信息并重建点云。实验表明,文中提出的方法和真实双目结构光方法测量标准球的均方根误差分别为0.037 9 mm和0.030 5 mm。文中提出的方法可促进双目条纹结构光技术在快速、低成本、小型化等方面发展,同时该方法可推广到彩色相机条纹结构光三维重建及投影散斑结构光三维重建。     

基于影灭点的单视图三维重构

提出了一种单视图三维重构有大量平面构成,存在大量的方法,该方法需要用户提供图像点及其对应三维点之间的几何信息。由于结构场景平行性和正交性约束,所以该方法主要应用于结构场景的三维重构。重构过程分为两部分：首先,基于三组互相垂直方向的影灭点,对方形象素摄像机进行定标;然后,基于用户提供的共面性和场景平面的影灭线,计算点的三维坐标。采用真实图像测试,说明该方法有效且简单易用。     

距离选通超分辨率三维成像及其应用

距离选通超分辨率三维成像是一种新型非扫描三维成像技术,在水下成像、远距离侦察、自动导航等应用中具有重要意义。综述了距离选通超分辨率三维成像技术国内外研究进展,对于梯形距离选通超分辨率三维成像和三角形距离选通超分辨率三维成像从距离能量包络能量态、三维成像步长、信噪比、环境噪声敏感性、距离分辨率以及测距精度等角度进行了对比分析,介绍了距离选通超分辨率三维成像技术的最新研究进展,包括编码超分辨率三维成像、实时距离选通超分辨率三维成像、多脉冲延时积分超分辨率三维成像,并分析了在低对比度目标探测、识别、水下三维成像方面的应用情况,以及笔者实验室在距离选通超分辨率三维成像技术方面开展的研究工作。距离选通三维成像技术的发展趋势为获取更高的三维成像景深分辨率比,实现快速高分辨率三维成像。     

基于秩1的射影重建方法

 提出了一种能够将所有图像平等看待基于秩1的射影重建方法,该方法并不是直接求解射影空间结构点和投影矩阵,而是求解射影空间结构点的深度因子及投影矩阵.本文利用射影空间结构点可以由图像点及深度因子构成的特性,构造了一个秩为1的矩阵,用线性迭代的方法求取空间结构点的深度因子,最后完成射影重建.模拟实验和真实实验数据结果表明,该射影重建方法具有收敛性好、重投影误差小及运行速度快等优点.     

Depth reconstruction filter for depth coding

Depth images represent the distances of scene elements from a camera in 3D space; their efficient coding is crucial for emerging applications such as free-viewpoint TV and 3D video. An in-loop reconstruction filter that improves the depth-coding performance as well as the rendering quality of virtual views based upon the coded depth is proposed.     

基于连续相位稠密匹配的结构光三维重建优化方法

提出了一种基于连续相位稠密匹配的结构光三维（3D）重建优化方法。利用标定的相机阵列获取投影的结构光变形条纹,利用格雷码划分相位级次,提出等相位约束条件,实现不同相机图像之间的稠密匹配;然后利用空间3D点与相机阵列之间的投影关系,建立各相机位姿与重建点云全局优化模型;利用观测值反向投影的欧式距离建立非线性优化的目标函数,并将此优化问题转为李代数上的图优化模型进行迭代求解。利用公开数据集和实测数据进行实验,结果表明,所提方法可以实现360°无遮挡的3D重建,且重建精度相对传统无优化结构光方式提高了6.94%,相机位姿精度提高了9.77%。所提方法相比参考方法对相机畸变标定精度要求低,并可用于模型点云的非刚体融合。同时由于相机阵列的使用,重建过程中目标物体无需多次旋转,使得物体的3D重建更加方便。     

基于辅助相机的景深拓展三维重建技术研究

针对面结构光三维重建中,由于重建景深的限制导致待测物在超出重建景深后出现重建错误的问题,提出了一种基于辅助相机的景深拓展三维重建技术,并借助相位阈值自适应地对重建景深内外物体进行重建。采用四步相移与互补格雷码结合的方法获取绝对相位,通过多项式拟合法对相机、投影仪进行标定。提出了借助辅助相机建立超出重建景深的相位-高度映射的方法。实验结果表明：该方法能提高重建景深范围50%左右,大大提升了面结构光的重建范围。     

Three-dimensional reconstruction of live embryos using roboticmacroscope images

To determine the three-dimensional (3-D) shape of a live embryo is a technically challenging task. The authors show that reconstructions of live embryos can be done by collecting images from different viewing angles using a robotic macroscope, establishing point correspondences between these views by block matching, and using a new 3-D reconstruction algorithm that accommodates camera positioning errors. The algorithm assumes that the images are orthographic projections of the object and that the camera scaling factors are known. Point positions and camera errors are found simultaneously. Reconstructions of test objects and embryos show that meaningful reconstructions are possible only when camera positioning and alignment errors are accommodated since these errors can be substantial. Reconstructions of early-stage axolotl embryos were made from sets of 33 images. In a typical reconstruction, 781 points, each visible in at least three different views, were used to form 1511 triangles to represent the embryo surface. The resulting reconstruction had a mean radius of error of 0.27 pixels (1.1 μm). Mathematical properties of the reconstruction algorithm are identified and discussed     

载人潜水器的深海地貌线结构光三维重建

针对深海环境下通过视觉方法难以实现地貌的大范围、高精度三维重建的问题,提出一种基于蛟龙号载人潜水器的线结构光法深海地貌三维重建视觉传感器的设计方案。根据线结构光三维重建的原理,首先改进了Steger算法,实现了快速、精准的激光条纹中心线提取;然后利用直接标定法求解出地形特征的二维空间坐标,并克服了图像畸变对重建的影响;再将获得的二维点云与多传感器数据融合,跟随潜水器坐标实时计算偏移量,并根据传感器位姿变化对图像矫正,最终获得地貌的三维点云数据。根据重建原理设计了视觉传感器的软硬件系统,并搭建了实验模拟平台来验证方案的可行性。通过水下实验可以实现对模拟地貌的完整重建,精度达到96.9%,符合重建要求。     

基于立体视觉的三维模型重建系统设计

以计算机视觉理论为基础,研究了基于立体视觉的三维重建技术.早期的三维重建技术受到理论研究水平的限制,建模过程需要专用设备如视觉坐标测量机来实现,且摄像机的运动受到严格的限制.在非特定环境下,对不特定模型采用普通的数码相机进行三维重建.该系统切实可行,操作简单,可以精确地恢复出二维图像检测方法所不能提供的物体的位置、几何...     

一种基于飞行时间相机的点云目标提取方法

基于飞行时间(Time of Flight,TOF)原理的深度相机成像方法不同于二维图像来计算三维信息,而是通过光在空气中的飞行时间,来计算出目标的距离,从而直接获取场景目标的三维点云信息。本文通过研究基于飞行时间红外相机的三维重建技术,设计了一种基于飞行时间红外相机的点云目标提取方法。利用飞行时间相机直接获得场景的三维点云数据,提出一种双阈值空间滤波算法,对点云数据进行空间滤波,并对滤波效果进行了对比评价。在双阈值空间滤波算法的基础上提出了一种改进的基于法向量的随机抽样一致性(RANSAC)算法,实现了对三维点云数据的目标提取,为基于飞行时间相机的场景目标三维重建奠定了基础。     

基于双目会聚型立体摄像机的目标深度测量

目标物体的三维测量是双目立体视觉的一项重要任务。基于视差的平行摄像机模型是最常见的用于三维重建的双目摄像机模型。一般双目立体摄像机不是严格平行的,所以采用上述方式进行三维重建时需要进行极线校正。提出了一种新的用于三维测量的双目摄像机模型,该模型针对一般常见的非平行的会聚立体摄像机模型。采用该模型进行目标物体的三维测距时,根据摄像机标定得到的相对外参,即可快速得到目标物体的深度信息。同时,本文从分辨率的角度对提出的深度测量方法进行了精度分析。实验结果验证了提出方法的有效性和可靠性。     

Real time 3D visualization of intraoperative organ deformations using structured dictionary

Restricted visualization of the surgical field is one of the most critical challenges for minimally invasive surgery (MIS). Current intraoperative visualization systems are promising. However, they can hardly meet the requirements of high resolution and real time 3D visualization of the surgical scene to support the recognition of anatomic structures for safe MIS procedures. In this paper, we present a new approach for real time 3D visualization of organ deformations based on optical imaging patches with limited field-of-view and a single preoperative scan of magnetic resonance imaging (MRI) or computed tomography (CT). The idea for reconstruction is motivated by our empirical observation that the spherical harmonic coefficients corresponding to distorted surfaces of a given organ lie in lower dimensional subspaces in a structured dictionary that can be learned from a set of representative training surfaces. We provide both theoretical and practical designs for achieving these goals. Specifically, we discuss details about the selection of limited optical views and the registration of partial optical images with a single preoperative MRI/CT scan. The design proposed in this paper is evaluated with both finite element modeling data and ex vivo experiments. The ex vivo test is conducted on fresh porcine kidneys using 3D MRI scans with 1.2 mm resolution and a portable laser scanner with an accuracy of 0.13 mm. Results show that the proposed method achieves a sub-3 mm spatial resolution in terms of Hausdorff distance when using only one preoperative MRI scan and the optical patch from the single-sided view of the kidney. The reconstruction frame rate is between 10 frames/s and 39 frames/s depending on the complexity of the test model.     

Patch-based reconstruction of surfaces undergoing different types of deformations

We deal with the reconstruction of surfaces that deform under a variety of conditions. The deformation can range from no extension to a certain degree of extensibility. The deformed surface is reconstructed from a single image, given a 3D reference shape. This shape corresponds to the undeformed state of the surface and can be computed using any appropriate technique. In particular, we use homographies defined from two views of the surface. To proceed with the 3D reconstruction of the deformed surface, we assume that the deformations are locally homogeneous and that the overall surface deformation can be obtained by combining the local homogeneous deformations. For this purpose, the surface is split into small patches. For each patch, a mapping between the undeformed and the deformed shapes is computed. The mapping is specified by using the quadratic deformation model Fayad et al. (Proceedings of British Machine Vision Conference (BMVC), 2004). As a result, given the undeformed shape, we define an optimization procedure whose goal is to estimate the 3D positions of deformed points in each image. The optimization is performed on each patch, independently of the others. The experimental results show that this approach allows precise reconstruction of a wide class of real deformations.     

3D studio production of animated actor models

A framework for constructing detailed animated models of an actor's shape and appearance from multiple view images is presented. Multiple views of an actor are captured in a studio with controlled illumination and background. An initial low-resolution approximation of the person's shape is reconstructed by deformation of a generic humanoid model to fit the visual hull using shape constrained optimisation to preserve the surface parameterisation for animation. Stereo reconstruction with multiple view constraints is then used to reconstruct the detailed surface shape. High-resolution shape detail from stereo is represented in a structured format for animation by displacement mapping from the low-resolution model surface. A novel integration algorithm using displacement maps is introduced to combine overlapping stereo surface measurements from multiple views into a single displacement map representation of the high-resolution surface detail. Results of 3D actor modelling in a 14 camera studio demonstrate improved representation of detailed surface shapes, such as creases in clothing, compared to previous model fitting approaches. Actor models can be animated and rendered from arbitrary views under different illumination to produce free-viewpoint video sequences. The proposed framework enables rapid transformation of captured multiple view images into a structured representation suitable for realistic animation.     

Mosaic-based 3D scene representation and rendering

In this paper we address the problem of fusing images from many video cameras or a moving video camera. The captured images have obvious motion parallax, but they will be aligned and integrated into a few mosaics with a large field-of-view (FOV) that preserve 3D information. We have developed a compact geometric representation that can re-organize the original perspective images into a set of parallel projections with different oblique viewing angles. In addition to providing a wide field of view, mosaics with various oblique views well represent occlusion regions that cannot be seen in a usual nadir view. Stereo mosaic pairs can be formed from mosaics with different oblique viewing angles. This representation can be used as both an advanced interface for interactive 3D video and a pre-processing step for 3D reconstruction. A ray interpolation approach for generating the parallel-projection mosaics is presented, and efficient 3D scene/object rendering based on multiple parallel-projection mosaics is discussed. Several real-world examples are provided, with applications ranging from aerial video surveillance/environmental monitoring, ground mobile robot navigation, to under-vehicle inspection.     

利用水下平行光管测量水下相机成像分辨率

水下光学成像是重要的水下探测方式。现有水下相机成像检测方法受到水体本身以及测量方法的影响,难以准确进行成像分辨率检测。提出了基于水下平行光管的水下相机成像分辨率检测技术,通过在水中产生平行光束,直接对水下相机成像分辨率进行检测。通过仿真得出：水下平行光管在水中可见光和空气中单波长的调制传递函数(Modulation Transfer Function, MTF)基本一致。利用这一结论,提出了水下平行光管空气中装调检测的方法。针对实验室所研制的一款水下相机开展实验测试,其在水中可见光与空气中635 m光源照明条件下的分辨率相同。实验结果表明,所提出的基于水下平行光管的水下相机成像分辨率检测方法可有效消除水体对分辨率测量的影响,实现水下相机成像分辨率的准确测量。