折反射全景立体成像
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摘要
常规光学成像系统视场较小，而且只能记录场景的光强度信息，因此缺乏沉浸感和立体感。近年来，由于机器人导航技术、虚拟现实技术的发展，对大视场(甚至全视场)场景的立体感知和重现的需要日益增强，在光电子学、计算机视觉和计算机图形学发展的推动下，出现了一些全景立体成像技术和方法。
论文的工作就是要研究折反射光学全景成像和双目视觉立体成像的理论、方法和技术，获取半球视场空间的场景三维信息，实现全景立体成像。研究内容分为三部分：第一部分由第二章至第四章组成，研究了折反射光学全景成像的理论和方法；第二部分由第五章至第八章组成，研究了双目立体视觉的基本理论和方法；最后一部分为第九章，将折反射全景成像和双目立体视觉技术结合获取空间场景的全景立体信息。取得的成果如下：
1．系统地建立了单视点折反射全景成像系统的设计方法；完成了双曲面折反射全景成像系统、抛物面折反射全景成像系统的设计，建立了这二类折反射全景成像系统；推导了这二类系统的逆投影公式，建立了由原全景图像获得透视全景图像和柱面全景图像的方法。
2．系统地建立了非单视点折反射全景成像系统的设计方法：完成了水平场景无畸变的折反射全景成像系统和柱面场景无畸变的折反射全景成像系统的设计，建立了这二类折反射全景成像系统；分析了透镜畸变和系统失调对水平场
四川大学博士学位论文
摘要
景无畸变折反射全景成像系统成像的影响，提出了消透镜畸变的反射镜设计方
法。
3.研究了最小核值相似区(SUSAN)角点特征的立体图像对匹配。比较了
以相关值为可信度测量和包含相关值和连续性的可信度测量这二种特征匹配技
术的运算速度和误匹配发生概率。为立体图像对外极几何确定和立体图像对校
正提供了获取匹配点集的较快速、准确的方法。
4.研究了基本矩阵和外极几何变换之间的关系，为立体图像对外极几何确
定的线性方法向非线性方法过渡建立了过渡公式。
5.提出了一种无需相机标定的立体图像对平面投影变换校正方法。本方法
利用了基本矩阵的指导作用和对应点坐标的决定性作用，有效地避免了非线性
优化计算的局部最小值，而且不过分依赖基本矩阵的计算，是一种速度快、精
度高的立体图像对校正方法。
6.研究了基于归一化协方差区域相关技术快速获取浓密视差图的方法。采
用金字塔图像结构匹配技术、Box一filte血g技术和视差范围约定加速匹配过程，
匹配中候选匹配点的多义性采用双向匹配方法消除，为建立实时双目立体视觉
系统奠定了理论和方法基础。
7.提出了采用双曲面折反射全景成像系统实现全景立体视觉的方法，推导
了距离测量的计算公式，建立了实验装置，获取了全景立体图像对，并从这些
全景立体图像对中提取出了反映场景深度信息的浓密视差图。
The conventional optical imaging system has a small view of field , and can only record .light intensity information, so the image recorded by this imaging system lacks immerses feel and stereo feel too. Recent years, due to the development of automaton navigation technique and virtual reality technique, the demand of stereo apperceive and reappearance of scene in a large view of filed is boosting up increasingly. Under promoted by advancement of optoelectronics, computer vision and computer graphics, some omnidirectional stereo imaging technique and method appear.
In this dissertation, we research the theory, method and technique on the catadioptric optical omnidirectional imaging and stereo imaging to obtain 3D information about the scene in a hemisphere view of field, and realize omnidirectional stereo imaging. This dissertation is composed of three important parts: the first part includes chapter 2 to chapter 4, in which the method and technique on the catadioptric optical omnidirectional imaging are researched. The second part includes chapter 5 to chapter 8, in which the fundamental method and technique are researched. The last part is chapter 9, in which catadioptric omnidirectional imaging is combined with stereo imaging to obtain panoramic stereo information about scene. The main results obtained can be summarized as follows:
1. Methods of design for single-viewpoint catadioptric omnidirectional imaging systems are systematically established. According to our method, hyperboloid catadioptric omnidirectional imaging systems and paraboloidal catadioptric omnidirectional imaging systems have been designed and been set up. The re-projection formula about this two kinds of system are derived, which be used to obtain perspective omnidirectional image and cylinder panoramic image from original omnidirectional image.
2. Methods of design for non-single-viewpoint catadioptric omnidirectional imaging systems are systematically established. According to our method, catadioptric omnidirectional distortionless imaging systems for horizontal scene and catadioptric omnidirectional distortionless imaging systems for cylinder scene have been designed and and been set up. The imaging affection of lens distortion to the catadioptric omnidirectional distortionless imaging system for horizontal scene has
been analyzed. A improved method of mirror design to eliminate that affection has. been put forward.
3. Stereo image matching based on SUSAN corner feature has been studied. We compare the operation cost and occurrent probability of mistake matching between two feature matching techniques that measuring support based on correlation score and based on correlation score and continuity, provide a fast and accurate method obtaining matched feature collection for determining the epipolar geometry and rectifying stereo pairs.
4. Connection between the fundamental matrix and the epipolar geometry has been researched, in order to establish transition formula determining the epipolar geometry from linear method to non-linear method
5. A method is present to rectify stereo pairs without calibration for cameras. The method calculates the initial values of perspective projective matrix; rotative matrix and translative matrix from the fundamental matrix, following these matrices have been optimized based on the coordinate value of corresponding points. The method can avoid the local least value in the optimal calculation effectively, and don't depend on the calculation precision of the fundamental matrix excessively, so is a fast and high precision rectification method.
6. The fast dense disparity map extract method based on mean normalized cross-correlation technique has been research. The pyramid image frame, Box-filtering, and disparity search rang limiting are used to increase the speed of matching process. Bi-directional matching technique is adopted to disambiguate Matches. So the foundation of theory and method establishing real-time binocular stereo vision system have been s
论文的工作就是要研究折反射光学全景成像和双目视觉立体成像的理论、方法和技术，获取半球视场空间的场景三维信息，实现全景立体成像。研究内容分为三部分：第一部分由第二章至第四章组成，研究了折反射光学全景成像的理论和方法；第二部分由第五章至第八章组成，研究了双目立体视觉的基本理论和方法；最后一部分为第九章，将折反射全景成像和双目立体视觉技术结合获取空间场景的全景立体信息。取得的成果如下：
1．系统地建立了单视点折反射全景成像系统的设计方法；完成了双曲面折反射全景成像系统、抛物面折反射全景成像系统的设计，建立了这二类折反射全景成像系统；推导了这二类系统的逆投影公式，建立了由原全景图像获得透视全景图像和柱面全景图像的方法。
2．系统地建立了非单视点折反射全景成像系统的设计方法：完成了水平场景无畸变的折反射全景成像系统和柱面场景无畸变的折反射全景成像系统的设计，建立了这二类折反射全景成像系统；分析了透镜畸变和系统失调对水平场
四川大学博士学位论文
摘要
景无畸变折反射全景成像系统成像的影响，提出了消透镜畸变的反射镜设计方
法。
3.研究了最小核值相似区(SUSAN)角点特征的立体图像对匹配。比较了
以相关值为可信度测量和包含相关值和连续性的可信度测量这二种特征匹配技
术的运算速度和误匹配发生概率。为立体图像对外极几何确定和立体图像对校
正提供了获取匹配点集的较快速、准确的方法。
4.研究了基本矩阵和外极几何变换之间的关系，为立体图像对外极几何确
定的线性方法向非线性方法过渡建立了过渡公式。
5.提出了一种无需相机标定的立体图像对平面投影变换校正方法。本方法
利用了基本矩阵的指导作用和对应点坐标的决定性作用，有效地避免了非线性
优化计算的局部最小值，而且不过分依赖基本矩阵的计算，是一种速度快、精
度高的立体图像对校正方法。
6.研究了基于归一化协方差区域相关技术快速获取浓密视差图的方法。采
用金字塔图像结构匹配技术、Box一filte血g技术和视差范围约定加速匹配过程，
匹配中候选匹配点的多义性采用双向匹配方法消除，为建立实时双目立体视觉
系统奠定了理论和方法基础。
7.提出了采用双曲面折反射全景成像系统实现全景立体视觉的方法，推导
了距离测量的计算公式，建立了实验装置，获取了全景立体图像对，并从这些
全景立体图像对中提取出了反映场景深度信息的浓密视差图。
The conventional optical imaging system has a small view of field , and can only record .light intensity information, so the image recorded by this imaging system lacks immerses feel and stereo feel too. Recent years, due to the development of automaton navigation technique and virtual reality technique, the demand of stereo apperceive and reappearance of scene in a large view of filed is boosting up increasingly. Under promoted by advancement of optoelectronics, computer vision and computer graphics, some omnidirectional stereo imaging technique and method appear.
In this dissertation, we research the theory, method and technique on the catadioptric optical omnidirectional imaging and stereo imaging to obtain 3D information about the scene in a hemisphere view of field, and realize omnidirectional stereo imaging. This dissertation is composed of three important parts: the first part includes chapter 2 to chapter 4, in which the method and technique on the catadioptric optical omnidirectional imaging are researched. The second part includes chapter 5 to chapter 8, in which the fundamental method and technique are researched. The last part is chapter 9, in which catadioptric omnidirectional imaging is combined with stereo imaging to obtain panoramic stereo information about scene. The main results obtained can be summarized as follows:
1. Methods of design for single-viewpoint catadioptric omnidirectional imaging systems are systematically established. According to our method, hyperboloid catadioptric omnidirectional imaging systems and paraboloidal catadioptric omnidirectional imaging systems have been designed and been set up. The re-projection formula about this two kinds of system are derived, which be used to obtain perspective omnidirectional image and cylinder panoramic image from original omnidirectional image.
2. Methods of design for non-single-viewpoint catadioptric omnidirectional imaging systems are systematically established. According to our method, catadioptric omnidirectional distortionless imaging systems for horizontal scene and catadioptric omnidirectional distortionless imaging systems for cylinder scene have been designed and and been set up. The imaging affection of lens distortion to the catadioptric omnidirectional distortionless imaging system for horizontal scene has
been analyzed. A improved method of mirror design to eliminate that affection has. been put forward.
3. Stereo image matching based on SUSAN corner feature has been studied. We compare the operation cost and occurrent probability of mistake matching between two feature matching techniques that measuring support based on correlation score and based on correlation score and continuity, provide a fast and accurate method obtaining matched feature collection for determining the epipolar geometry and rectifying stereo pairs.
4. Connection between the fundamental matrix and the epipolar geometry has been researched, in order to establish transition formula determining the epipolar geometry from linear method to non-linear method
5. A method is present to rectify stereo pairs without calibration for cameras. The method calculates the initial values of perspective projective matrix; rotative matrix and translative matrix from the fundamental matrix, following these matrices have been optimized based on the coordinate value of corresponding points. The method can avoid the local least value in the optimal calculation effectively, and don't depend on the calculation precision of the fundamental matrix excessively, so is a fast and high precision rectification method.
6. The fast dense disparity map extract method based on mean normalized cross-correlation technique has been research. The pyramid image frame, Box-filtering, and disparity search rang limiting are used to increase the speed of matching process. Bi-directional matching technique is adopted to disambiguate Matches. So the foundation of theory and method establishing real-time binocular stereo vision system have been s
引文
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