基于单目视觉系统的远距离场景重建算法研究

Efficient 3D Reconstruction Using Monocular Vision

提出了一种基于机载前视被动传感器(电视传感器或红外成像传感器)获取的序列图像,并结合惯导信息,恢复前视场景深度的新方法。通过将前视三维场景看作一组具有不同深度的,分别对应背景和障碍物的层的集合,将复杂的场景重建问题简化为对各层深度集和像素标记场的计算;我们使用贝叶斯方法解决对各参数的估计,并使用图论方法快速求解。试验表明,该方法是可行的。

For airborne vehicle flying at low altitudes,recovery of depth map in front of aircraft is very important to avoid obstacle.This paper describes a novel method for scene reconstruction using a sequence of images from a passive sensor(TV,FLIR) and the information from inertial navigation system.We model 3D scenes in the field-of-view as a collection of approximately planar layers that corresponds to the background and obstacles respectively.Therefore the central problems of reconstruction are the depths calc...