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。     

3D reconstruction from stereo images for interactions between real and virtual objects

The 3D reconstruction algorithm in a stereo image pair for realizing mutual occlusion and interactions between the real and virtual world in an image synthesis is proposed. A two-stage algorithm, consisting of disparity estimation and regularization is used to locate a smooth and precise disparity vector. The hierarchical disparity estimation technique increases the efficiency and reliability of the estimation process, and edge-preserving disparity field regularization produces smooth disparity fields while preserving discontinuities that result from object boundaries. Depth information concerning the real scene is then recovered from the estimated disparity fields by stereo camera geometry. Simulation results show that the proposed algorithm provides accurate and spatially correlated disparity vector fields in various types of images, and the reconstructed 3D model produces a natural space in which the real world and virtual objects interact with each other as if they were in the same world.     

Virtual Control of Optical Axis of the 3DTV Camera for Reducing Visual Fatigue in Stereoscopic 3DTV

In stereoscopic television, there is a trade‐off between visual comfort and 3‐dimensional (3D) impact with respect to the baseline‐stretch of a 3DTV camera. It is necessary to adjust the baseline‐stretch at an appropriate distance depending on the contents of a scene if we want to obtain a subjectively optimal quality of an image. However, it is very hard to obtain a small baseline‐stretch using commercially available cameras of broadcasting quality where the sizes of the lens and CCD module are large. In order to overcome this limitation, we attempt to freely control the baseline‐stretch of a stereoscopic camera by synthesizing the virtual views at the desired location of interval between two cameras. This proposed technique is based on the stereo matching and view synthesis techniques. We first obtain a dense disparity map using a hierarchical stereo matching with the edge‐adaptive multiple shifted windows. Then, we synthesize the virtual views using the disparity map. Simulation results with various stereoscopic images demonstrate the effectiveness of the proposed technique.     

Efficient depth map generation with occlusion handling for various camera arrays

In this paper, we propose a direct depth map acquisition method for the arc camera array as well as the parallel camera array. In conventional stereo matching algorithms, image rectification is necessary where disparity values are obtained by identifying correspondences in the identical horizontal line of stereo images. The acquired disparity values are then transformed to depth values. However, image rectification may fabricate unwanted outcomes related to the arc camera array. Thus, the proposed method excludes image rectification and directly extracts depth values using an epipolar constraint. In particular, occlusion detection and handling processes are inserted to increase depth map accuracy. Further, belief propagation-based energy optimization is employed to confirm occlusion regions. Then, reasonable depth values are assigned to obtained occlusion regions using distances and color differences of neighbor pixels. Experimental results show that compared to the conventional methods, the proposed method generate more stable depth maps with fewer limitations.     

融合梯度特性与置信度的立体匹配算法

针对现有局部立体匹配算法在计算匹配代价时, 不能很好区分强弱纹理区域,及在视差计算过程 中,不能很好的解决视差歧义问题,提出一种融合梯度特性与置信度的立体匹配算法。首先 计算梯度特 征,并根据梯度特征信息选择匹配代价计算的匹配窗口,针对强弱不同纹理区域选择不同尺 寸的匹配窗 口,有效的提高了立体匹配精度,降低了误匹配率;然后在视差计算中引入置信度约束条件 ,解决了视差 计算中视差歧义的问题,提高了立体匹配算法的稳定性与精度;最后使用水平与垂直方向交 叉区域检测进 行奇异值的修正。实验结果表明,该算法在Middlebury数据集中31对 立体图像对的平均误匹配率为7.96%,有效的提高了立体匹配精度。     

基于改进代价计算和视差候选策略的立体匹配

立体匹配算法在图像弱纹理区和重复纹理区存在匹配困难、误差大的问题,为此提出一种基于改进代价计算和视差候选策略的立体匹配算法。首先结合改进的Census变换和自适应加权融合的双向梯度信息来计算初始匹配代价,提高代价计算的可靠性。其中:为传统Census变换增加内圈编码,提高邻域信息利用率,同时降低噪声的影响;利用自适应权重函数融合横向和纵向梯度代价,降低物体边缘区域的误匹配率。其次,采用自适应十字交叉窗口进行代价聚合,并通过建立候选视差集和引入邻域视差信息的方法来获取初始视差。最后通过两轮插值策略优化视差。实验结果表明,所提算法能够提高弱纹理区和重复纹理区的匹配效果,在Middlebury中4幅标准立体图像对的平均误匹配率为5.33%。     

Information permeability for stereo matching

A novel local stereo matching algorithm is introduced to address the fundamental challenge of stereo algorithms, accuracy and computational complexity dilemma. The time consuming intensity dependent aggregation procedure of local methods is improved in terms of both speed and precision. Providing connected 2D support regions, the proposed approach exploits a new paradigm, namely separable successive weighted summation (SWS) among horizontal and vertical directions enabling constant operational complexity. The weights are determined by four-neighborhood intensity similarity of pixels and utilized to model the information transfer rate, permeability, towards the corresponding direction. The same procedure is also utilized to diffuse information through overlapped pixels during occlusion handling after detecting unreliable disparity assignments. Successive weighted summation adaptively cumulates the support data based on local characteristics, enabling disparity maps to preserve object boundaries and depth discontinuities. According to the experimental results on Middlebury stereo benchmark, the proposed method is one of the most effective local stereo algorithm providing high quality disparity models by unifying constant time filtering and weighted aggregation. Hence, the proposed algorithm provides a competitive alternative for various local methods in terms of achieving precise and consistent disparity maps from stereo video within fast execution time.     

一种单镜头立体成像方法的研究

分析了当今主流商用立体摄像方法的原理和优缺点,特别针对双目立体摄像机标定难的缺点,提出了一种单镜头双孔立体成像方法。该方法只需一个镜头,通过在镜头前加装2个小孔,控制2个小孔分时开合,即可摄取场景的不同侧面,由此便得到了一幅双目立体图像对。实验结果表明,该立体成像方法可以在避免复杂的多摄像机标定的情况下取得较好的双目立体成像效果。该方法的创新点在于只需一台摄像机、一个镜头在固定位置就可以拍摄双目立体图像,避免了对多个摄像机进行标定,减轻了立体成像中摄像机标定的难度。     

基于柱透镜光栅的合成图像生成及分辨率损失

根据柱透镜单元光传输原理,提出了一种非均匀宽度视差图条纹及其在合成图像中非均匀排列的方法,该方法可以减少立体图像串扰,增加各个视点接收到的对应视差图的信息量,使观看到的自由立体图像更加清晰。此外,置于LCD屏前的柱透镜光栅条纹方向与屏表面的坐标轴倾斜角度的改变会导致图像在竖直和水平方向分辨率的变化。与光线追迹测量分辨率损失的ASAP软件模拟法不同,本文以解析法分析了光栅条纹倾斜角度对竖直和水平方向分辨率损失的影响,计算结果对柱透镜光栅自由立体显示器的设计有一定的参考性。     

User assisted disparity remapping for stereo images

This study concentrates on user assisted disparity remapping for stereo image footage, i.e. the disparity of an object of interest is altered while leaving the remaining scene unattended. This application is useful in the sense that it provides a method for emphasizing/de-emphasizing an object on the scene by adjusting its depth with respect to the camera. The proposed technique can also be used as a post-processing step for retargeting stereoscopic footage on different display sizes and resolutions. The proposed technique involves an MRF-based energy minimization step for interactive stereo image segmentation, for which user assistance on only one of the stereo pairs is required for determining the location of stereo object pair. A key contribution of the proposed study is elimination of dense disparity estimation step from the pipeline. This step is realized through a sparse feature matching technique between the stereo pairs. Moreover, by the help of the proposed technique, novel disparity adjusted views are synthesized using the produced stereo object segments and background information for the images. Qualitative and quantitative evaluation of the generated segments and the disparity adjusted images prove the functionality and superiority of the proposed technique.     

Virtual camera calibration and stereo correspondence of single-lens bi-prism stereovision system using geometrical approach

This paper proposes a simple geometrical ray approach to calibrate the extrinsic parameters of the virtual cameras and solve the stereo correspondence problem of the single-lens bi-prism stereovision system. Each images captured using this system can be divided into two sub-images which are generated by two virtual cameras due to the refraction through the bi-prism. This stereovision system is equivalent to the conventional two camera system and the two captured sub-images provide disparity which can be used for depth recovery. The virtual cameras will be calibrated geometrically and the correspondence problem of this system will be solved by applying epipolar geometry constraint on the generated virtual cameras instead of the real CCD camera. Experiments are conducted to validate the proposed method and the results are compared to the conventional approach to confirm its accuracy and effectiveness.     

Disparity field and depth map coding for multiview 3D image generation

In the present paper techniques are examined for the coding of the depth map and disparity fields for stereo or multiview image communication applications. It is assumed that both the left and right channels of the multiview image sequence are coded using block- or object-based methods. A dynamic programming algorithm is used to estimate a disparity field between each stereo image pair. Depth is then estimated and occlusions are optionally detected, based on the estimated disparity fields. Spatial interpolation techniques are examined based on the disparity/depth information and the detection of occluded regions using either stereoscopic or trinocular camera configurations. It is seen that the presence of a third camera at the transmitter site improves the estimation of disparities, the detection of occlusions and the accuracy of the resulting spatial interpolation at the receiver. Various disparity field and depth map coding techniques are then proposed and evaluated, with emphasis given to the quality of the resulting intermediate images at the receiver site. Block-based and wireframe modeling techniques are examined for the coding of isolated depth or disparity map information. Further, 2D and 3D motion compensation techniques are evaluated for the coding of sequences of depth or disparity maps. The motion fields needed may be available as a byproduct of block-based or object-based coding of the intensity images. Experimental results are given for the evaluation of the performance of the proposed coding and spatial interpolation methods.     

光栅投影三维测量系统中标定技术的研究

相机和投影仪的标定精度决定光栅投影三维系统的测量精度。提出一种改进的标定方法。该方法在逆向相机模型的基础上对投影仪进行标定,利用相位编码法进行绝对相位展开,避免相机标定误差的引入,在标定过程中减少投影仪投射图案的数量,使标定操作更加简单、快速。在系统的标定过程中,利用投影仪投射的垂直、水平两组光栅图像,建立其与相机图像的对应关系,进而求得标志点圆心在投影仪图像上的像素坐标;然后利用带有径向畸变的相机模型对投影仪进行标定;最后进行系统的立体标定,确定相机和投影仪间的相对位置关系。实验结果表明所提方法切实可行。     

Stereoscopic ranging by matching image modulations

We apply an AM-FM surface albedo model to analyze the projection of surface patterns viewed through a binocular camera system. This is used to support the use of modulation-based stereo matching where local image phase is used to compute stereo disparities. The local image phase is an advantageous feature for image matching, since the problem of computing disparities reduces to identifying local phase shifts between the stereoscopic image data. Local phase shifts, however, are problematic at high frequencies due to phase wrapping when disparities exceed +/-pi. We meld powerful multichannel Gabor image demodulation techniques for multiscale (coarse-to-fine) computation of local image phase with a disparity channel model for depth computation. The resulting framework unifies phase-based matching approaches with AM-FM surface/image models. We demonstrate the concepts in a stereo algorithm that generates a dense, accurate disparity map without the problems associated with phase wrapping.     

立体图像对校正技术在三维显示中的应用

基于相机阵列的立体视差图像获取是3D立体显示技术的关键步骤之一,它为立体显示提供了丰富多彩的图像源;由于平行摆放的阵列相机拍摄得到的视差图像没有梯形失真和垂直视差,经3D显示设备后不会使观众产生视疲劳,因此,人们在视差图像获取时常采用时平行摆放的相机阵列.然而,在实际的操作中是很难达到这样理想的条件;本文针对常用的非平行摆放的双相机,经由图像校正的处理方法,来获得相同条件下平行式相机拍摄的效果;通过实验表明,该方案简单易行,效果良好,经3D自由立体显示后,观看的舒适度得到了提高.     

Panum融合区条件下的立体观影区间

由于生理的局限,人眼立体感知存在一定的盲区,并对立体视差存在一定的融合极限,因此获取符合人眼立体感知的三维影像就显得尤为重要.针对该问题,结合Panum融合区理论以及人眼立体感知误差,对立体观影区间的范围进行界定,并对立体观影区对应下的基线长度范围进行推导.根据推导结果,利用3ds max进行场景模拟,分别以特定距离下基线长度所允许的最大值和最小值为基准,获取5组不同基线长度下的视差图,最后利用虚拟现实眼镜验证了推导结果的正确性,该结果可对立体摄影过程的相机摆放提供指导.     

单反相机立体摄取镜头的研制

提出一种单镜头立体照相方案,通过对镜头立体光圈及其控制电路的设计,制造出用于单反数码相机的立体镜头,并分析该技术方案所获立体图像的特点.实践表明,该镜头结构简单、使用方便、能一次性形成多种立体图像,有利于立体照相技术的推广.     

基于柱面光栅的液晶三维自由立体显示

根据双目视差原理和柱面光栅的分光特性研制了液晶三维自由立体显示器.该立体显示器由二维平板液晶显示器和柱面光栅有机耦合而成.采用九个视差图实现了三维静态、动态和视频的显示效果.一个19英寸的立体显示器具有相对应的平面显示器相同的亮度、对比度和色彩,其分辨率在垂直和水平方向都有合理的下降.该立体显示器的观看距离是(1000±500)mm,视角为 90°,可供多人不戴立体眼镜就能自由观看立体图像.     

Implementation of Real‐Time Post‐Processing for High‐Quality Stereo Vision

We propose a novel post‐processing algorithm and its very‐large‐scale integration architecture that simultaneously uses the passive and active stereo vision information to improve the reliability of the three‐dimensional disparity in a hybrid stereo vision system. The proposed architecture consists of four steps — left‐right consistency checking, semi‐2D hole filling, a tiny adaptive variance checking, and a 2D weighted median filter. The experimental results show that the error rate of the proposed algorithm (5.77%) is less than that of a raw disparity (10.12%) for a real‐world camera image having a resolution and maximum disparity of 256. Moreover, for the famous Middlebury stereo image sets, the proposed algorithm's error rate (8.30%) is also less than that of the raw disparity (13.7%). The proposed architecture is implemented on a single commercial field‐programmable gate array using only 13.01% of slice resources, which achieves a rate of 60 fps for stereo images with a disparity range of 256.     

三线阵立体测绘卫星LMCCD相机的实现

为了降低对卫星姿态稳定度的要求,对全球以及月球、火星等外星球进行无控制摄影测量与制图,在卫星摄影测量中引入LMCCD相机的概念。实现用于立体测绘的LMCCD相机,需要满足技术指标要求的光学镜头、LMCCD像面、调焦机构以及内方位元素。本文根据LMCCD相机的实现条件,对LMCCD探测器的配置、LMCCD像面结构与拼接以及光学镜头、调焦机构进行了详细设计,并对LMCCD相机的内方位元素进行了分析计算。