本文選題：標定 + 稠密匹配��； 參考：《南京理工大學(xué)》2017年碩士論文

【摘要】：立體視覺的實現(xiàn)可分為攝像機標定、特征點提取、立體匹配、三維信息的恢復(fù)及后處理五個步驟。本文圍繞計算機立體視覺系統(tǒng),針對攝像機標定和立體匹配技術(shù)展開深入研究,為實現(xiàn)從二維圖像中提取三維信息打下基礎(chǔ)。在攝像機標定部分,本文采用了綜合傳統(tǒng)標定和自標定優(yōu)點的張正友平面模板標定法獲得了雙目攝像頭的內(nèi)外參數(shù)。同時對雙目圖像進行了畸變校正和極線校正,改善了圖像質(zhì)量并使雙目攝像頭拍攝的左右成像平面對極線行對齊,為后續(xù)圖像立體匹配提供了方便。在特征點初匹配中,本文對幾種常用的特征提取算子性能進行對比并選擇了抗噪性和穩(wěn)定性較好的SIFT算法進行特征提取和匹配,同時采用RANSAC算法去除誤匹配點,從而達到了精匹配效果。在特征點稠密匹配中,本文首先研究了基于區(qū)域增長的稠密匹配方法,詳細闡述了具體實現(xiàn)過程。同時本文提出了一種基于單應(yīng)性的稠密匹配方法,該方法通過不斷地假設(shè)當前的配準結(jié)果中相互毗鄰的三對特征點形成的三角面片滿足單應(yīng)性關(guān)系,并利用互相關(guān)函數(shù)對單應(yīng)性假設(shè)進行校驗。將符合校驗原則的三角面片記為配準面片,將不滿足校驗原則的三角面片進行細分后重新判斷,既而從圖像上檢測更多的稠密匹配點,且匹配準確度較高。最后本文對兩種稠密匹配方法的實驗結(jié)果進行對比,驗證了該方法的有效性。
[Abstract]:The realization of stereo vision can be divided into five steps: camera calibration, feature point extraction, stereo matching, 3D information recovery and postprocessing.In this paper, the camera calibration and stereo matching technology are deeply studied around the computer stereo vision system, which lays the foundation for extracting 3D information from two-dimensional images.In the camera calibration part, the internal and external parameters of the binocular camera are obtained by using the Zhang Zhengyou plane template calibration method, which combines the advantages of traditional calibration and self-calibration.At the same time, the distortion correction and pole line correction of binocular image are carried out to improve the image quality and align the left and right imaging plane of binocular camera, which provides convenience for stereo matching of subsequent images.In the initial matching of feature points, this paper compares the performance of several commonly used feature extraction operators, and selects the SIFT algorithm with good noise resistance and stability for feature extraction and matching. At the same time, RANSAC algorithm is used to remove the mismatch points.Thus, the precision matching effect is achieved.In the dense matching of feature points, this paper first studies the dense matching method based on regional growth, and describes the implementation process in detail.At the same time, a dense matching method based on homotropy is proposed. This method continuously assumes that the triangular patches formed by the three pairs of feature points adjacent to each other in the current registration results satisfy the monotropic relationship.The hypothesis of homotropy is verified by cross-correlation function.After subdividing the triangulated face which does not meet the checkout principle, more dense matching points are detected from the image, and the matching accuracy is high.Finally, the experimental results of two dense matching methods are compared to verify the effectiveness of the proposed method.
【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP391.41

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