光学学报, 2020, 40 (21): 2115002, 网络出版: 2020-10-25
基于深度相机的特殊表面定位与修复 下载: 1061次
Depth Camera-Based Location and Restoration of Special Surface
机器视觉 三维感知 三维重建 非朗伯体定位 相机位姿优化 machine vision three-dimensional sensing three-dimensional reconstruction non-Lambertian localization camera pose optimization
摘要
由于成像原理限制,深度相机无法获得非朗伯体高反射面和透明物质的真实深度值,造成模型缺失甚至重建失败。针对特殊表面的三维重建问题,提出一种定位特殊表面并优化位姿追踪的方法。通过累计零深度区和时序一致性约束优化对特殊表面进行定位。对深度数据置信度进行评估,并采用空间、时间两个维度上非平均的位姿计算方法来减小透明物质对位姿计算的影响。实验结果表明,在自然场景中,所提方法能够仅通过消费级相机采集的深度数据完成包含特殊表面的三维模型重建与修复,位姿追踪更加准确,模型精度更高。
Abstract
Owing to imaging principle limitations, depth camera is impossible to obtain the true depth value of a non-Lambertian high reflective surface and transparent substances, resulting in model missing and reconstruction failure. Aiming at the problem of three-dimensional (3D) reconstruction on special surfaces, a method of positioning special surfaces and optimizing position tracking is proposed herein. In the proposed method, positioning for special surfaces is based on the statistics of the zero depth area and timing consistency constraint optimization. The confidence of the depth data is evaluated, and the non-uniform pose calculation method in space and time is used to reduce the influence of transparent materials on pose calculation. The experimental results show that in natural scenes, the proposed method can reconstruct and repair 3D models with special surfaces using only the depth data collected by a consumer camera, which makes pose tracking more accurate and increases model accuracy.
费点, 陈建林, 刘东生, 张之江. 基于深度相机的特殊表面定位与修复[J]. 光学学报, 2020, 40(21): 2115002. Dian Fei, Jianlin Chen, Dongsheng Liu, Zhijiang Zhang. Depth Camera-Based Location and Restoration of Special Surface[J]. Acta Optica Sinica, 2020, 40(21): 2115002.