应用摄像机位姿估计的点云初始配准

郭清达; 全燕鸣; 姜长城; 陈健武

doi:10.3788/OPE.20172506.1635

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应用摄像机位姿估计的点云初始配准

信息科学 | 更新时间：2020-07-07

- 应用摄像机位姿估计的点云初始配准
- Initial registration of point clouds using camera pose estimation
- 光学精密工程 2017年25卷第6期页码：1635-1644
- 作者机构：
  
  华南理工大学机械与汽车工程学院, 广东广州 510640
- 作者简介：
  
  [ "郭清达(1986-), 男, 山东聊城人, 博士研究生, 2009年于济南大学获得学士学位, 2012年于华南理工大学获得硕士学位, 主要从事机器视觉, 工业机器人等方面的研究。E-mail:meguoqingda@mail.scut.edu.cn" ]
  全燕鸣(1957-), 女, 江西南城人, 博士, 教授, 博士生导师, 1982年于江西工学院获得学士学位, 1993年和1997年于华南理工大学分别获得硕士、博士学位, 主要从事机械制造及其自动化技术、制造过程中的检测技术、机器视觉应用研究。E-mail:meymquan@scut.edu.cn QUAN Yan-ming, E-mail:meymquan@scut.edu.cn
- 基金信息：
  
  广东省省级科技计划研发与产业化项目(2013B090600052)
- DOI：10.3788/OPE.20172506.1635
  中图分类号： TH703
- 收稿日期：2016-10-17，
  
  录用日期：2016-12-19，
  
  纸质出版日期：2017-06-25
- 稿件说明：
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郭清达, 全燕鸣, 姜长城, 等. 应用摄像机位姿估计的点云初始配准[J]. 光学精密工程, 2017,25(6):1635-1644.

Qing-da GUO, Yan-ming QUAN, Chang-cheng JIANG, et al. Initial registration of point clouds using camera pose estimation[J]. Optics and precision engineering, 2017, 25(6): 1635-1644.
郭清达, 全燕鸣, 姜长城, 等. 应用摄像机位姿估计的点云初始配准[J]. 光学精密工程, 2017,25(6):1635-1644. DOI： 10.3788/OPE.20172506.1635.

Qing-da GUO, Yan-ming QUAN, Chang-cheng JIANG, et al. Initial registration of point clouds using camera pose estimation[J]. Optics and precision engineering, 2017, 25(6): 1635-1644. DOI： 10.3788/OPE.20172506.1635.

摘要

基于摄像机位姿估计的数学模型，提出了一种检测摄像机位移前后目标图像特征点的方法，通过求解摄像机发生位移前后的相对位姿矩阵来解决应用视觉图像获得点云的初始配准问题。首先，介绍了摄像机位姿估计模型，包括本质矩阵、旋转矩阵以及平移矩阵；然后，介绍了SURF算子的特征点检测、描述和匹配的方法，在此基础上面向双目视觉和单目结构光系统，分别提出了摄像机位移前后目标图像SURF特征点匹配和深度估计模型；最后，分别进行双目视觉和单目结构光系统点云的获取、位移前后目标图像特征点检测匹配和深度估计实验，应用摄像机位姿估计模型求解旋转矩阵和位移矩阵，并对位移矩阵进行统计分析剔除粗差。实验中采用基于点云空间特征点和基于图像的方法进行对比，点云对应特征点均方误差缩小至12.46 mm。实验结果验证了方法的可行性，表明本文的点云初始配准方法能较好地获得点云精确配准初值。

Abstract

Based on the mathematical model of camera pose estimation

a feature point detection method of camera images before and after movement was proposed to obtain relative posture matrix of camera before and after movement

which can solve initial registration problem of point clouds derived from machine vision. Firstly

the estimation model of camera pose was introduced

including essential matrix

rotation matrix and translation matrix. Secondly

the detection

description and matching of feature points for SURF operator were introduced. On this basis

SURF feature points matching of camera images before and after movement and depth estimation model were respectively proposed for binocular vision and monocular structured light system. Finally

the acquisition of point clouds derived from binocular vision and monocular structured

feature points detection and matching of camera images before and after movement as well as camera depth estimation were realized experimentally. The mathematical model of camera pose was estimated to solve the rotation matrix and the translation matrix

and the residual analysis was carried out on the translation matrix for eliminating gross errors. In the experiment

the method of initial registration of point cloud based on feature point and based on images as contrast

the results show that the mean square error of the corresponding feature points are reduced to 12.46 mm. The result verifies the feasibility of the method

and indicates that the point registration method can obtain good initial values for accurate point cloud registration.

关键词

Keywords

references

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