基于异构多核构架的双目散斑3维重建

3D Reconstruction Method with Binocular Speckle Based on Heterogeneous Multi-core Processor

为提高双目立体匹配的速度和精度,提出一种基于异构多核构架平台实现的双目立体散斑3维重建方案。在构建双目立体视觉模型基础上,辅助投射白色散斑结构光,然后采集散斑变形图像并进行极线校正。对传统的ZNCC快速计算方法进行改进,运用零均值归一化互相关函数(ZNCC)作为相关算法的匹配代价函数,克服了传统立体视觉算法对弱纹理区域重建效果较差的缺点。将该算法移植到异构多核处理器Myriad2上,实现了物体快速高精度3维重建。实验结果表明借助异构多核构架处理器强劲的并行运行能力,在不损失系统重建精度的前提下,使系统运行时间大大缩短,对系统的重建效率具有较大提升。

In order to improve speed and precision of binocular stereo matching,this paper deals with 3D reconstruction with binocular speckle images based on heterogeneous multi-core processor.On the basis of passive binocular stereo vision model and with the assistant of projecting white binary speckle pattern,the deformed speckle images were captured and then polar-rectified.Exploiting the improved traditional fast-ZNCC calculation method and zero-mean normalized cross correlation(ZNCC) as the correlation function,the shortcomings of low precision and low efficiency of the conventional stereo vision algorithm for weak texture regional reconstruction were effectively overcame.The developed algorithm was implemented on Myriad2 platforms characterized by heterogeneous multi-core architecture achieving accurate and efficient three dimension reconstruction.The experiments demonstrated that the efficiency and performance in 3D reconstruction were significantly improved without any loss of accuracy assisted by the heterogeneous computational architecture.