在将两个摄像机对同一坐标系(全局坐标系)标定的基础上,提出了距离数据及纹理的融合方法。以调制度为模板确定摄像机视线重叠区和数据空洞,在全局坐标中摄像机视线重叠区内根据单位面积采样点数序号最接近原则选取一定尺寸的区域作为数据拼接区。并且考虑在重叠区内一方数据有空洞时的补洞方法,将空洞边界相似放大后,新边界和原边界构成的重叠区域作为数据拼接区。在数据拼接区内将两边的数据以到拼接区中心线距离为权重进行加权平均,实现了数据平滑过渡。实验表明该方法是有效的,为数据融合提供了新途径。

A new method for merge of range data and texture based on calibrating two cameras in a world coordinate system is proposed. The overlapped zones and holes of data of the cameras are detected by use of modulation as mask. The part with specified size in the overlapped zones is used for data integration, according to the nearest sequence number of samples in unit area. The method for merging regions where there are holes in one side and none in the another side is also introduced. Integrated region is constructed with the overapped zones by enlarging the edge of the hole. The data in all integrated zones are averaged with distance to their center line as weight number. Thus, the data transition of each side is smooth. The experimental results reveal this method is reliable and accurate.