一種新穎實(shí)用的基于視覺導(dǎo)航的三維重建算法

根據(jù)立體視覺在視覺導(dǎo)航應(yīng)用中的特點(diǎn)，提出了由視差圖重建三維場(chǎng)景的整套算法。首先，推導(dǎo)視差圖里各點(diǎn)在攝像機(jī)坐標(biāo)系下的三維坐標(biāo)。其次，建立攝像機(jī)坐標(biāo)系與車體坐標(biāo)系的轉(zhuǎn)換關(guān)系，得到更有實(shí)際意義的在車體坐標(biāo)系下各點(diǎn)的三維坐標(biāo)。最后，通過(guò)分格顯示地貌的算法，大大減少了數(shù)據(jù)量。實(shí)驗(yàn)結(jié)果表明，該算法計(jì)算量小、魯棒性強(qiáng)，完全滿足視覺導(dǎo)航中的實(shí)時(shí)性、準(zhǔn)確性要求。

From the specialties of the stereo vision applied in vision— based navigation，we propose a whole solution to reconstruct 3D scene from the disparity map．First，we discussed how to get the camera— bas ed coordinates form the disparity map．Second，we developed the conversion from the camera— based to the vehicle— based co rdinates，thus，more practical reconstruction result was obtained．Finally，the quantity of data Was reduced greatly by subdividing whole scene into smaller subunits．The experiment results prove that our algorithm con meet the vision— based naviga—tion’S request for real—time an d validity ．