基于偏振双目视觉的无纹理高反光目标三维重构1平茜茜刘勇.DOC

基于偏振双目视觉的无纹理高反光目标三维重构 平茜茜，刘勇，董欣明，赵永强*，张艳 (西北工业大学 自动化学院，陕西 西安710071 ) 摘要：对于表面光滑、纹理单一甚至缺失、高反光的目标，传统的三维重构方法由于对纹理以及反光特性的依赖会使得重构表面出现大面积的的数据空洞。而基于偏振的三维重构方法不依赖于物体表面的纹理信息，同时偏振成像能够在一定程度上抑制耀光，能够有效解决传统三维重构方法存在的问题。但是，基于偏振视觉的三维重构方法得到的是像素坐标系下的深度信息，因此提出了偏振双目视觉三维重构方法，以由双目立体视觉获得的少量特征点的世界三维坐标为“桥梁”，利用双目立体标定得到的相机参数，将偏振得到的图像像素坐标系下的点云数据转化为世界坐标系下的绝对数据。 关 键 词：三维重构；无纹理目标；偏振；双目立体视觉 中图分类号：TP391 文献标识码：A 3-D reconstruction of textureless and high-reflective target by polarization?and binocular stereo vision PING Xi-Xi, LIU Yong, DONG Xin-Ming, ZHAO Yong-Qiang, ZHANG Yan (College of Automation, Northwestern Polytechnical University, Xi’an 710071, China ) Abstract:For high reflective targets with smooth surface,single or even none texture,a large area of data void may appear on the reconstruction surface since the traditional three-dimensional reconstruction method depending on texture and reflective characteristic.While three-dimensional reconstruction method based on polarization vision does not rely on the texture information on the surface of objects,and the polarization imaging can restrain highlight to a certain extent,which can effectively solve the problems existing in the traditional three-dimensional reconstruction method.However,the depth information obtained by three-dimensional reconstruction method based on polarization vision is under pixel coordinates.Therefore,polarization and binocular three-dimensional reconstruction method is put forward,taking absolute three-dimensional coordinate of a few feature points obtained by binocular stereo vision as the “bridge”,using the camera parameters obtained by binocular calibration to transform the point cloud data acquired by polarization in image pixel coordinates into absolute data in world coordinates. Key words: 3D reconstruction; Texture absence; Polarization; Binocular stereo vision PACS: 42.30.Tz 0 引 言 空间任务中普遍存在低纹理高反光目标，具有表面纹理特征单一甚至缺失、表面光滑容易产生耀光两个特点。传统的三维重构方法如：双目立体视觉，在很大程度上依赖于物体表面的纹理信息，对于表面光滑的无纹理目标重构结果会出现大面积的数据空洞；基于