帮助 关于我们

返回检索结果

融合2D/3D摄像机的方法与获取高精度三维视觉信息的装置
Fusion of 2D camera with 3D camera and equipment for acquiring high resolution 3D visual information

查看参考文献17篇

余洪山 1 *   赵科 2   王耀南 2   唐延东 3   张红良 4  
文摘 三维飞行时间摄像机可实时同步获取场景三维信息和灰度图像信息.虽然它存在图像分辨率和质量较差等问题,但它可作为二维摄像机的互补.本文借鉴立体视觉技术,提出了一种2D/3D摄像机融合的三维视觉信息获取方案.论文首先基于固定空间关系和相近视野原则,设计2D/3D立体摄像机系统对空间场景同步成像.结合三维T0F摄像机成像特性,论文借鉴立体视觉技术完成二维摄像机的高质量二维彩色图像与插补后的三维摄像机深度图像的匹配关联.因此,本方法可实现场景的高精度彩色图像和对应三维空间信息的实时同步获取,同时保留了二维摄像机的高质量彩色二维成像和三维摄像机的快速稠密三维信息获取的优势.2D/3D摄像机图像融合匹配算法复杂度低,匹配精度和准确度取决于二维摄像机和三维摄像机自身性能、摄像机标定参数精度和深度图像插补算法,不会引入新的运算误差.试验结果验证了本文算法的有效性和精确度.
其他语种文摘 Time of flight (ToF) camera can deliver grayscale image and 3D information simultaneously with high frame rates. Although its image resolution and quality are very poor, it provides a good supplement with traditional 2D camera image. Inspired by the stereo vision, we present a 3D visual information acquiring method by fusing 3D information of ToF camera with the high resolution color image. Firstly, we setup a 2D/3D stereo camera with fixed spatial relation and similar visual field to capture the environment information synchronously. Based on characteristics of ToF camera and the principles of stereo vision, the interpolated 3D information of ToF camera is registered with high resolution color image. Consequently, the proposed method can provide high quality 2D image as well as corresponding 3D space information, which preserves the advantages of 2D camera's high quality image and ToF camera's fast acquisition for dense 3D information. The proposed 2D/3D camera fusion method has very low computation cost while the matching accuracy is only determined by parameters of the 2D/3D stereo camera system and interpolation algorithm for range image without extra computation error. Experimental results have demonstrated the feasibility and accuracy of the proposed method.
来源 控制理论与应用 ,2014,31(10):1383-1392 【核心库】
DOI 10.7641/cta.2014.40038
关键词 2D/3D图像匹配 ; 图像融合 ; 3D摄像机 ; 立体视觉 ; 三维重建
地址

1. 湖南大学电气与信息工程学院, 机器人学国家重点实验室, 湖南, 长沙, 410082  

2. 湖南大学电气与信息工程学院, 湖南, 长沙, 410082  

3. 机器人学国家重点实验室, 机器人学国家重点实验室, 辽宁, 沈阳, 110016  

4. 国防科学技术大学航天科学与工程学院, 湖南, 长沙, 410000

语种 中文
文献类型 研究性论文
ISSN 1000-8152
学科 自动化技术、计算机技术
基金 国家自然科学基金资助项目 ;  国家863计划 ;  中国科学院沈阳自动化研究所机器人学重点实验室基金 ;  国家重大科学仪器设备开发专项 ;  广东省教育部产学研结合专项资金资助项目 ;  中央高校基本科研业务费专项资金资助项目
文献收藏号 CSCD:5288614

参考文献 共 17 共1页

1.  Hebert M. Progress in 3-d mapping and localization. Proceedings of the 9th International Symposium on Intelligent Robotic Systems,2001:145-154 被引 1    
2.  Vaskevicius N. Efficient representation in three-Dimensional environment modeling for planetary robotic exploration. Advanced Robotics,2010,24(8/9):1169-1197 被引 1    
3.  闰飞. 移动机器人基于多传感器信息融合的室外场景理解. 控制理论与应用,2011,28(8):1093-1098 被引 1    
4.  Lazaros N. Review of stereo vision algorithms: from software to hardware. International Journal of Optomechatronics,2008,2(4):435-462 被引 17    
5.  Rovira-Mas F. Design parameters for adjusting the visual field of binocular stereo cameras. Biosystems Engineering,2010,105(1):59-70 被引 3    
6.  Henry P. RGB-D mapping: Using depth cameras for dense 3D modeling of indoor environments. Proceedings of International Symposium on Experimental Robotics (ISER),2010:477-491 被引 1    
7.  Lindner M. Time-of-Flight sensor calibration for accurate range sensing. Computer Vision and Image Understanding,2010,114(12):1318-1328 被引 14    
8.  Mufti F. Statistical analysis of signal measurement in time-of-flight cameras. ISPRS Journal of Photogrammetry and Remote Sensing,2011,66(5):720-731 被引 1    
9.  Mehrotra S. Low-complexity, nearlossless coding of depth maps from kinect-like depth cameras. 2011 IEEE 13th International Workshop on Multimedia Signal Processing (MMSP),2011:1-6 被引 1    
10.  Falie D. Noise characteristics of 3D time-of-flight cameras. 2007 IEEE 9th International Symposium on Signals, Circuits and Systems. 1,2007:1-4 被引 1    
11.  Prasad T D A. First steps in enhancing 3d vision technique using 2d/3d sensors. 2006 Proceedings of the Computer Vision Winter Workshop,2006:82-86 被引 1    
12.  Gudmundsson S A. Fusion of stereo vision and time-of-flight imaging for improved 3d estimation. International Journal of Intelligent Systems Technologies and Applications,2008,5(3):425-433 被引 5    
13.  Kuhnert K D. Fusion of stereo-camera and pmdcamera data for real-time suited precise 3d environment reconstruction. 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems,2006:4780-4785 被引 1    
14.  Huhle B. Integrating 3D time-of-flight camera data and high resolution images for 3DTV applications. 2007 IEEE 3DTV Conference,2007:1-4 被引 1    
15.  Bouguet J Y. Camera Calibration Toolbox for Matlab,2010 被引 10    
16.  Parker J A. Comparison of interpolating methods for image resampling. IEEE Transactions on Medical Imaging,1983,2(1):31-39 被引 38    
17.  Miroslav T. Fast corner detection. Image and Vision Computing,1998,16(1):75-87 被引 62    
引证文献 2

1 王耀南 智能制造装备视觉检测控制方法综述 控制理论与应用,2015,32(3):273-286
被引 46

2 万琴 基于三维视觉系统的多运动目标跟踪方法综述 计算机工程与应用,2017,53(19):33-39
被引 0 次

显示所有2篇文献

论文科学数据集
PlumX Metrics
相关文献

 作者相关
 关键词相关
 参考文献相关

版权所有 ©2008 中国科学院文献情报中心 制作维护:中国科学院文献情报中心
地址:北京中关村北四环西路33号 邮政编码:100190 联系电话:(010)82627496 E-mail:cscd@mail.las.ac.cn 京ICP备05002861号-4 | 京公网安备11010802043238号