基于深度相机的金属柜体三维重建

3D reconstruction technology of metal cabinet based on depth camera

针对金属柜体表面的光线反射和检测场地限制问题,研究了基于深度相机的金属柜体三维重建,使用深度相机采集金属柜体的RGBD图像,实现高质量的金属柜体表面数据采集;计算其点云数据后进行离群点剔除和下采样的数据处理,降低了噪声影响并提高运算速度;采用基于点云数据和基于三维信息的重建方式,构造金属柜体的三维模型。通过对比实验,证明本文方法得到的点云数据在数量、精度平均误差和采集速度上明显优于双目视觉方法;三种金属柜体的三维模型与真实值对比,模型误差百分比约为3%。

In order to solve the problems of light reflection on the surface of metal cabinet and the limitation of detection site,this paper studies the 3D reconstruction of metal cabinet based on depth camera,and uses the depth camera to collect the RGBD images of metal cabinet to achieve high quality data acquisition on the surface of metal cabinet.After calculating the point cloud data,outlier elimination and downsampling are carried out to reduce the influence of noise and improve the computing speed.The three-dimensional model of metal cabinet is constructed by using the reconstruction method based on point cloud data and three-dimensional information.Through comparison experiments,it is proved that the point cloud data obtained by the method in this paper is obviously superior to the binocular vision method in terms of quantity,average error of precision and acquisition speed.Compared with the real values,the error percentage of the three metal cabinet models is about 3%.