基于双目图像的大尺度智能驾驶场景重建

Large-scale Automatic Driving Scene Reconstruction Based on Binocular Image

大尺度智能驾驶场景重建能够在车辆驾驶环境中为车辆控制系统反馈周围道路交通的环境信息,并实现环境信息的可视化。目前,现有的三维重建方案主要面向结构化场景,对大尺度非结构化的智能驾驶场景进行三维重建时,在保证一定精度的情况下,难以满足智能驾驶系统所需的实时性。针对这一问题,文中提出了一种基于双目视觉的三维场景重建方法,首先通过优化立体匹配策略来提高立体匹配效率,再提出均匀保距的特征点提取算法RSD,减少三维点云计算与三角剖分耗时,提高大尺度智能驾驶场景重建的实时性。实验结果证明了该算法的有效性,采用所提算法对大尺度智能驾驶场景进行场景重建可得到良好的重建效果,且能够满足智能驾驶系统对实时性的需求。

The large-scale smart driving scene reconstruction can feedback the surrounding road traffic environment information for the vehicle control system in the vehicle driving environment,and realize the visualization of the environmental information.At present,the existing three-dimensional reconstruction scheme is mainly oriented to the structured scene,and it is difficult to meet the real-time performance required by the smart driving system while ensuring a certain precision which can make when the three-dimensional reconstruction of the large-scale unstructured smart driving scene is performed.In order to solve this problem,a three-dimensional scene reconstruction method based on binocular vision is proposed.Firstly,by optimizing the stereo matching strategy,the stereo matching efficiency is improved,and then the uniform distance feature point extraction algorithm RSD is proposed to reduce the time consumption of 3D point cloud computing and triangulation,and the real-time performance of large-scale smart driving scene reconstruction is improved.The experimental results prove the effectiveness of this algorithm,which can be used to reconstruct the scene of large-scale smart driving scene,and can meet the demand of intelligent driving system in real-time.