基于灭点查找的姿态角测量方法在路面三维重建中的应用

Method of Attitude Angle Measuring Based on Disappear Point Lookup in 3D Reconstruction of Road Surface

在对机场道路或高速公路直线段等平直路面的三维重建应用中,针对道路平直的特点,提出了基于灭点查找的姿态角测量方法来校正扫描仪获取的路面三维重建结果。该方法通过提取前视图片中道路灭点的像素坐标来获取运载平台实时的航向角和俯仰角信息,在此基础上结合运载平台的速度信息获得行驶轨迹,最后以行驶轨迹为参考对扫描仪获得的点云数据进行配准,从而获得真实路面场景的三维形貌。实验结果表明,该方法获得的姿态角精度较高,利用此方法重建后的路面三维形貌与实际情况达到了较好的吻合。

In the application of 3D reconstruction of the road surface of highway or runway,a method of attitude angle measuring based on disappear point lookup was proposed to revise the 3D reconstruction result.The heading angle and pitching angle were gained by picking-up the road＇s disappear point in the photograph of forward view,then with the velocity information of the car,the vehicle＇s track can be gained.At last,the 3D reconstruction result can be revised by the information of vehicle＇s track,and then the 3D appearance of the road surface can be gained.The experiment showed that the attitude angle gained by this method arrived at a high precision and the 3D appearance of the road surface inosculated well with the actual road surface.