果树枝干三维重建关键技术研究
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摘要
计算机技术的发展和农业生产的现实需求,使得植物的三维重建问题成为一个研究热点。本文围绕着果树枝干三维重建这个课题,对果树三维重建的关键技术进行了研究和讨论。主要针对三维重建中的图像点、线特征匹配算法、相机标定、模型验证方法等问题,对已有的算法进行分析,指出其局限性和提出改进方法,并应用于果树枝干三维重建。本文的研究内容与创新点如下:
1提出了一种基于激光定位仪的改进Tsai相机标定技术,并用于果树枝干三维重建,这种方法改进了传统方法中由于定标板不精确所造成的相机标定误差,能够准确获取数码相机的内外部参数,实现简单,并使三维重建的结果更加精确,实验表明效果良好。
2针对基于图像的三维重建中特征匹配算法的一些缺陷,提出了一种基于图像特征相关性的匹配改进算法,并用于果树枝干三维重建。采用了利用带权二分图求取最大匹配的方法,从而准确地进行了图像特征的3D坐标的计算和三维重建,改进了传统的基于极线约束的图像特征匹配方法中,仅仅从2D角度衡量图像特征的相关性而忽视3D的信息获取。利用图像特征相关性的计算与通过带权二分图获取最大匹配方法的结合,可以方便、可靠地实现图像间的特征匹配,从而使得图像的三维重建变得更加容易,重建结果更加精确。
3由于果树枝干三维重建的复杂性,使得三维重建模型验证困难。本文针对这一问题,提出了一种基于激光扫描数据果树枝干重建技术,从而提供了一种在像素点级别上的模型验证方法,有效解决了果树三维模型正确性的验证问题。
最后,将上述关键技术进行组合,完成了对实际果树枝干的三维重建实验,实验结果表明,本文研究所提出的关键技术在果树枝干的三维重建中,准确性高,实现方便,效果也是令人满意的。
With the development of computer technology and the practical demand of farm production,3D reconstruction of fruit trees has become a hot topic.In this dissertation some key technologies of 3D reconstruction have been studied.A series of mathematical models have been offered mainly aiming at image points,line feature matching algorithm,camera demarcating,model validating method of 3D reconstruction.Meticulous discussion on the localization and deficiency of classical method has been carried out.The improved technology has been presented and applied to the field of 3D reconstruction on the stem of fruit trees.Experimental results have been obtained through computer operation.The research contents and achievements of this paper are as follows:
Firstly,an improved method of Tsai camera demarcating based on laser orientation has been offered and applied to the field of 3D reconstruction on the stem of fruit trees.It improved on error in classic methods owe to the imprecise scalar and carried out easily.Using this method,accurate results were gotten.
Secondly,aiming at the deficiency of the feature matching algorithm in 3D reconstruction based on image,an improved matching algorithm based on image feature correspondence has been offered and applied to this field of the stem of fruit trees.Using the maximum-weight bipartite graphs technology, we get the maximum correspondence across images and the veracity for 3D coordinate of features in imagines and 3D reconstruction would be ensured.Through this method,image feature matching and 3D reconstruction could be operated in parallel and the limitation of traditional method of polar line restrict which measures features from 2D neglecting 3D information.In a word,the method that could combine calculating affinity measure and building a maximum-weight bipartite graph would make image feature matching more convenience and more reliable.The matching accuracy and speed were improved.
As the complexity for 3D reconstruction of tree,it was hard for judging the effect for reconstruction. In this passage a method and algorithm for reconstructing the three-dimensional surface of tree stems using laser scanner was presented.Through this way,the model of tree could be validated and the problem of judging the effect for reconstruction would be solved.
Finally,in order to check up these key technologies presented by the passage,some experiments using these technology were carried out and the result gotten by experiments were compared with data through other methods.Experimental results on synthetic and real data demonstrate the effectiveness of these key methods.
1提出了一种基于激光定位仪的改进Tsai相机标定技术,并用于果树枝干三维重建,这种方法改进了传统方法中由于定标板不精确所造成的相机标定误差,能够准确获取数码相机的内外部参数,实现简单,并使三维重建的结果更加精确,实验表明效果良好。
2针对基于图像的三维重建中特征匹配算法的一些缺陷,提出了一种基于图像特征相关性的匹配改进算法,并用于果树枝干三维重建。采用了利用带权二分图求取最大匹配的方法,从而准确地进行了图像特征的3D坐标的计算和三维重建,改进了传统的基于极线约束的图像特征匹配方法中,仅仅从2D角度衡量图像特征的相关性而忽视3D的信息获取。利用图像特征相关性的计算与通过带权二分图获取最大匹配方法的结合,可以方便、可靠地实现图像间的特征匹配,从而使得图像的三维重建变得更加容易,重建结果更加精确。
3由于果树枝干三维重建的复杂性,使得三维重建模型验证困难。本文针对这一问题,提出了一种基于激光扫描数据果树枝干重建技术,从而提供了一种在像素点级别上的模型验证方法,有效解决了果树三维模型正确性的验证问题。
最后,将上述关键技术进行组合,完成了对实际果树枝干的三维重建实验,实验结果表明,本文研究所提出的关键技术在果树枝干的三维重建中,准确性高,实现方便,效果也是令人满意的。
With the development of computer technology and the practical demand of farm production,3D reconstruction of fruit trees has become a hot topic.In this dissertation some key technologies of 3D reconstruction have been studied.A series of mathematical models have been offered mainly aiming at image points,line feature matching algorithm,camera demarcating,model validating method of 3D reconstruction.Meticulous discussion on the localization and deficiency of classical method has been carried out.The improved technology has been presented and applied to the field of 3D reconstruction on the stem of fruit trees.Experimental results have been obtained through computer operation.The research contents and achievements of this paper are as follows:
Firstly,an improved method of Tsai camera demarcating based on laser orientation has been offered and applied to the field of 3D reconstruction on the stem of fruit trees.It improved on error in classic methods owe to the imprecise scalar and carried out easily.Using this method,accurate results were gotten.
Secondly,aiming at the deficiency of the feature matching algorithm in 3D reconstruction based on image,an improved matching algorithm based on image feature correspondence has been offered and applied to this field of the stem of fruit trees.Using the maximum-weight bipartite graphs technology, we get the maximum correspondence across images and the veracity for 3D coordinate of features in imagines and 3D reconstruction would be ensured.Through this method,image feature matching and 3D reconstruction could be operated in parallel and the limitation of traditional method of polar line restrict which measures features from 2D neglecting 3D information.In a word,the method that could combine calculating affinity measure and building a maximum-weight bipartite graph would make image feature matching more convenience and more reliable.The matching accuracy and speed were improved.
As the complexity for 3D reconstruction of tree,it was hard for judging the effect for reconstruction. In this passage a method and algorithm for reconstructing the three-dimensional surface of tree stems using laser scanner was presented.Through this way,the model of tree could be validated and the problem of judging the effect for reconstruction would be solved.
Finally,in order to check up these key technologies presented by the passage,some experiments using these technology were carried out and the result gotten by experiments were compared with data through other methods.Experimental results on synthetic and real data demonstrate the effectiveness of these key methods.
引文
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