混合视觉系统中共同视场的确定与3维重建方法

Determination of the Common View Field in Hybrid Vision System and 3D Reconstruction Method

利用一个单目摄像机和一个全景摄像机搭建了相应的混合视觉系统,通过分析两者的对极几何关系,提出该系统共同视场的确定方法.在此基础上完成共同视场中场景SIFT特征的提取,并以SIFT描述器向量之间的夹角为约束条件进行特征点间的初次匹配,然后利用外极线约束消除初次匹配中的误匹配,从而获得正确的特征匹配关系,由此完成局部场景的3维重建.最后,通过实验验证了重建方法的可行性和有效性.

A hybrid vision system is constructed by a monocular camera and an omnidirectional camera.The epipolar geometry of this system is analyzed and a method to determine the common view filed of this system is proposed.Scale invariant feature transform（SIFT） features are extracted in the common view field.During the feature points＇ initial matching process,the angle between the SIFT descriptor vectors is considered as the constraint condition.In order to eliminate the error matching in initial results,the epipolar constraint is used to obtain the correct feature matching.Finally,3D reconstruction of the local scene is realized.Experimental results show that the reconstruction method is feasible and practical.