基于小波多分辨率网格划分的双目立体视觉方法

Binocular Stereo Vision Method Based on Wavelet Multi-Resolution Mesh Generation

基于双目立体视觉的三维重构是机器视觉技术中重要的研究内容,在机器人视觉导航、航空测绘、医学成像和工业检测等很多领域都有广泛的应用。研究空间网格候选点三维坐标与图像中二维坐标的映射关系,对基于网格候选点投影灰度相似性的立体视觉方法进行改进,建立多分辨率网格节点并与小波分解图像实现一一对应关系,通过逐级分析网格节点的映射像点灰度相似性,确定由粗到精的候选点筛选策略,最终恢复被测物体的深度信息。Matlab平台下的仿真实验可以验证,小波多分辨率网格节点的构建不但改善了计算效率,也避免了过多候选点带来的随机误差,使三维重建精度得到了提高。

The 3D reconstruction based on binocular stereo vision is a main part of the machine vision technology and has a variety of applications in robot navigation, aerial surveying and mapping, medical imaging, industrial inspection, etc.. With analysis of the relation between 3D coordinates of the mesh candidates and 2D coordinates in images, the mesh candidates similarity of gray value based stereo -;ision method was improved. Multi-resolution mesh grid was established corresponding to the wavelet decomposed images. The depth information of the object was reconstructed according to the similarity of the gray values between both images with the choosing strategy from the rough to the fine. The algorithm has obvious superiorities in computation and accuracy shown by experiments using Matlab.