双目立体视觉中高精度匹配算法研究.pdf

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1、⺅༛ᆖս䇪᮷ਂⴤ㄁։㿼㿿ѣ儎㋴ᓜ९䞃㇍⌋⹊ガHIGH-ACCURATEMATCHINGALGORITHMRESEARCHINBINOCULARSTEREORECONSTRUCTION㛆൓ॾ૾ቊ┞ᐛѐཝᆜ2014ᒤ12ᴸഭ޵മҖ࠶㊫ਧ˖TP391ᆖṑԓ⸱˖10213ഭ䱵മҖ࠶㊫ਧ˖621ᇶ㓗˖ޜᔰᐕ〻⺅༛ᆖս䇪᮷ਂⴤ㄁։㿼㿿ѣ儎㋴ᓜ९䞃㇍⌋⹊ガ⺋༡⹊ガ⭕φ㛆൓ॾሲᐾφ੤ᲃߋ࢟ᮉᦸ⭩䈭ᆜփφᐕ〻⺅༛ᆜ〇φ᧗ࡦᐕ〻ᡶ൞ঋփφ␡⹄ウ⭏䲒ㆊ䗟ᰛᵕφ2014ᒤ12ᴸᦾҾᆜփঋփφ૸ቄ┘ᐕъབྷᆖClassifiedIndex:TP391U.D.C:6

2、21DissertationfortheMasterDegreeinEngineeringHIGH-ACCURATEMATCHINGALGORITHMRESEARCHINBINOCULARSTEREORECONSTRUCTIONCandidate:XiaoShenghuaSupervisor:AssociateProf.WuXiaojunAcademicDegreeAppliedfor:MasterDegreeofEngineeringSpecialty:ControlEngineeringAffiliation:ShenzhenGra

3、duateSchoolDateofDefence:December,2014Degree-Conferring-Institution:HarbinInstituteofTechnology૸ቄ┘ᐕъབྷᆖᐕ〻⺅༛ᆖս䇪᮷᪎㾷䲿⵰3Dᢃঠᢰᵟ઼㲊ᤏ⧠ᇎᢰᵟⲴᲞ৺ˈй㔤ᔪ⁑ਈᗇ䎺ᶕ䎺䟽㾱ˈྲօ㧧ਆ㋮⺞Ⲵй㔤⁑රᡀѪҶањᶱާ᥁ᡈᙗⲴԫ࣑DŽቭ㇑㓿䗷ҶࠐॱᒤਁኅˈᴹҶ䇨ཊй㔤ᔪ⁑Ⲵ᡻⇥DŽնᱟˈ࡙⭘ḷᇊⲴമ⡷ᒿࡇᶕ䇑㇇⢙փ㋮⺞ൠй㔤⁑රᱟᴰᯩׯᘛᦧⲴ᡻⇥ѻаDŽᵜ᮷ᨀࠪҶа⿽൘ཊ࠶䗘⦷ᶑԦл㔃ਸཊ䟽㓖ᶏᶑԦⲴ・փ३䝽ᢰᵟᶕ䇑㇇⢙փй㔤⁑රⲴᯩ⌅DŽ䈕

4、ᯩ⌅俆ሩ・փമۿሩ࠶࡛䘋㹼অ⤜ḷᇊˈ❦ਾˈṩᦞঅ⤜ḷᇊⲴ㔃᷌ᶕ䘋㹼・փḷᇊˈᇎ⧠㋮⺞≲ਆєњ⴨ᵪ䰤Ⲵս㖞ޣ㌫ˈ❦ਾሩ・փമۿሩ䘋㹼ᶱ㓯ṑ↓ˈ䙊䗷䗮ࡠ㹼ሩ喀ⲴⴞⲴᶕ߿ቁ䇑㇇䟿ˈᨀ儈३䝽Ⲵ߶⺞ᓖDŽ൘ṑ↓ѻਾˈᡁԜሩⴞḷ⢙փ䘋㹼࠶ࢢˈᗇ൘३䝽ⲴᰦۿᲟ㛼⨶༴৫⭘нى㍐ˈԕ↔ᶕሩ㇇⌅࣐䙏ˈ❦ਾሩ・փമۿሩ䘋㹼䠁ᆇຄ࠶ቲˈӾᴰ儈ቲ䙀ቲᖰл३䝽ˈᗇ㇇⌅Ⲵ䙏ᓖ䘋а↕ᨀॷDŽ䪸ሩ⇿аቲᡁԜ䜭䘋㹼३䝽ˈ㓖ᶏỰḕˈ❦ਾ䟽३䝽ˈ└⌒ˈ㿶ᐞ٬ՈॆⲴ䗷〻ˈ⺞؍ᴰᓅቲᗇࡠаᑵ━ն㓶㢲䜭㜭䖳ྭ؍⮉Ⲵ㿶ᐞമDŽ䪸ሩ䟽३䝽䗷〻ˈᡁԜᨀࠪҶޛ䛫ฏᴰՈ३䝽⌅ᶕᗇ䟽३䝽Ⲵ䗷〻߶⺞ਟ

5、䶐˗ሩҾ㿶ᐞՈॆ䗷〻ˈᡁԜ䇮䇑Ҷ਴ੁᔲᙗᒣ━Ṩˈᗇ⁑ර㺘䶒━Ⲵ਼ᰦˈҏ㜭؍⮉ྭ㓶㢲⢩ᖱDŽ࡙⭘㿶ᐞമ㔃ਸḷᇊ৲ᮠˈᡁԜਟԕ䇑㇇ࠪ⢙փⲴй㔤⛩Ӂˈ᧕⵰ሩ⛩Ӂ䘋㹼└⌒৫䲔ಚ༠⛩ˈ❦ਾ࡙⭘KD-treeⲴᯩ⌅ՠ䇑⛩ӁⲴ⌅ੁ䟿ˈ㧧ᗇᑖᴹ⌅ੁ䟿Ⲵ⛩Ӂਾⴤ᧕⭘Possion䟽ᔪⲴᯩ⌅≲ਆ⢙փⲴ㖁Ṭ⁑රDŽᴰਾˈᡁԜ࡙⭘ޝ㓴䈅傼മ⡷䘋㹼䟽ᔪˈሩ㔃᷌࠶᷀ਁ⧠ᡁԜⲴ㇇⌅ާᴹ㋮ᓖ儈ˈ䟽ᔪ䙏ᓖᘛˈ䟽ᔪᆼᮤᓖྭⲴՈ⛩DŽީ䭤䈃˖й㔤䟽ᔪ˗・փ३䝽˗ཊ࠶䗘⦷˗ཊ䟽㓖ᶏᶑԦ˗㿶ᐞՈॆ-I-૸ቄ┘ᐕъབྷᆖᐕ〻⺅༛ᆖս䇪᮷Abstract3Dreconstructionis

6、moreandmoreimportantwiththedevelopmentof3Dprintandvirtualrealityandit’sachallengingmissiontoacquiretheaccuratemodelofanobject.Manykindsofmethodshavebeenputforwardinrecentyears,butcalculatingthemodelbyaserialofcalibratedimagesisthemostconvenientway.Inthispaper,wepresentas

7、tereomatchingapproachundertheconditionofmulti-resolutioncombinedwiththemulti-constraintstocomputethe3Dmodelofanobject.Inthefirststep,wecalibratethecamerasrespectively,andthenexecutethestereocalibrationandrectificationprocedure.Thiswillbehelpfulwhensearchingcorrespondingp

8、oints.Toreducethecomputationcomplexity,wecuttheobjectfromthebackground.Thenwebuildtheimagepyramidandste