移动高光对三维场景重建的影响与消除

全思博; 李伟光

doi:10.3788/OPE.20172507.1900

您当前的位置：

首页 >

文章列表页 >

移动高光对三维场景重建的影响与消除

信息科学 | 更新时间：2020-07-07

- 移动高光对三维场景重建的影响与消除
- Influence and elimination of moving highlight on three-dimensional scene reconstruction
- 光学精密工程 2017年25卷第7期页码：1900-1908
- 作者机构：
  
  华南理工大学机械与汽车工程学院, 广东广州 510641
- 作者简介：
  
  [ "全思博(1983-), 男, 江西安义人, 博士研究生, 2010年于新加坡南洋理工大学获得硕士学位, 主要从事机器人视觉的研究。E-mail:quan.sibo@mail.scut.edu.cn" ]
  [ "李伟光(1958-), 男, 江西南昌人, 教授, 博士生导师, 1995年、1998年于华南理工大学分别获得硕士、博士学位, 主要从事智能制造的研究。E-mail:wguangli@scut.edu.cn" ]
- 基金信息：
  
  广东省数控一代机械产品创新应用示范工程专项资助项目(2013B011301026)
- DOI：10.3788/OPE.20172507.1900
  中图分类号： TP391
- 收稿日期：2016-10-25，
  
  录用日期：2016-12-6，
  
  纸质出版日期：2017-07-25
- 稿件说明：
移动端阅览
全思博, 李伟光. 移动高光对三维场景重建的影响与消除[J]. 光学精密工程, 2017,25(7):1900-1908.

Si-bo QUAN, Wei-guang LI. Influence and elimination of moving highlight on three-dimensional scene reconstruction[J]. Optics and precision engineering, 2017, 25(7): 1900-1908.
全思博, 李伟光. 移动高光对三维场景重建的影响与消除[J]. 光学精密工程, 2017,25(7):1900-1908. DOI： 10.3788/OPE.20172507.1900.

Si-bo QUAN, Wei-guang LI. Influence and elimination of moving highlight on three-dimensional scene reconstruction[J]. Optics and precision engineering, 2017, 25(7): 1900-1908. DOI： 10.3788/OPE.20172507.1900.

摘要

针对制造车间光滑地面在阳光或灯光照射下的扫描图像往往存在反射光斑，且随相机位置变化而变化，会严重干扰图像处理和利用的问题，提出了一种识别和去除高光的方法，用于改善图像处理效果和三维重建精度。基于扫描序列图像的三维场景重建流程和SURF特征原理，分析移动的高亮反光斑对图像特征点提取和匹配的影响；对于缺乏表面纹理的灰度图像，提出一种基于逐行多级阈值和动态模板高光识别与去除方法，保留非高光点的特征信息，识别与修复同步完成。实验结果表明，无高反光的前后两帧图像的匹配特征点对比有高光情况下至少高出8%，优化后的余留匹配特征点更多；扫描一段30 m长的车间场景序列图像，用提出的方法修复高光后进行三维重建，点云拼接误差减小了10 cm。表明移动高光对图像序列三维重建有不可忽视的影响，本文提出的方法能有效地去除高光。

Abstract

The scanned image of the smooth ground in the manufacturing workshop had reflection light spot under the irradiation of sunshine or lamplight; and it was varied with the change of the camera shooting position. Based on 3d scene reconstruction procedures and SURF algorithm principle of the Kinect scanning sequence images

influences of mobile highlight reflector on extraction and matching of feature points for reference images and images which are waiting for being matched were analyzed. The experimental result shows that compared with match feature points for the frame image with high reflection

match feature points for the frame image without high reflection is at least higher 8%; and remaining match feature points are more after being optimized. In addition

highlight recognition and removal method should be discussed; in terms of grey level images which lack surface texture

based on progressive multilevel threshold and dynamic template

a kind of processing method was proposed; non highlight feature information was not changed; and processing time was saved; recognition and repair were synchronously completed. The experiment shows that in terms of 30m length of sequence image for scene in the workshop which is scanned by Kinect

its light should be repaired by the method proposed in the thesis; and it should be subject to three-dimensional reconstruction; point cloud registration error should be at least reduced by 10cm.

关键词

Keywords

references

ENDRES F, HESS J, STURM J, et al.. 3-D mapping with an RGB-D camera[J]. IEEE Transactions on Robotics, 2014, 30(1):177-187.

LEE S, LEE I, EEM C, et al.. Using visual feature and geometric constraints for robot localization[J]. International Journal of Control and Automation, 2015, 8(5):281-292.

NGUYEN T, VO Q N, YANG H J, et al.. Separation of specular and diffuse components using tensor voting in color images[J]. Applied Optics, 2014, 53(33):7924-7936.

MIYAZAKI D, TAN R T, HARA K, et al.. Polarization-based inverse rendering from a single view[C]. Proceedings of the 9th IEEE International Conference on Computer Vision, IEEE, 2003, 2:982-987.

孙永建, 孙晓明, 刘云起, 等.基于线性扩散板的高光抑制方法研究[J].液晶与显示, 2016, 31(9):897-901.

SUN Y J, SUN X M, LIU Y Q, et al.. Specular highlight suppression method based on linear diffuser[J]. Chinese Journal of Liquid Crystals and Display, 2016, 31(9):897-901. (in Chinese)

卓武汉, 严京旗.基于SURF的连续帧图像配准及高光去除[J].微型电脑应用, 2011, 27(1):37-39.

ZHUO W H, YAN J Q. Animation image registration and luster removal image composition technology based on SURF feature[J]. Microcomputer Applications, 2011, 27(1):37-39. (in Chinese)

TAN R T, IKEUCHI K. Separating reflection components of textured surfaces using a single image[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2005, 27(2):178-193.

SHEN H L, ZHENG Z H. Real-time highlight removal using intensity ratio[J]. Applied Optics, 2013, 52(19):4483-4493.

蔡铁峰, 朱枫, 郝颖明, 等.面向人眼探测识别的灰度图像伪彩色化方法[J].红外与激光工程, 2015, 44(S):213-219.

CAI T F, ZHU F, HAO Y M, et al.. Pseudo-color processing of gray images for human visual detection and recognition[J]. Infrared and Laser Engineering, 2015, 44(S):213-219. (in Chinese)

李劲澎, 姜挺, 肖达, 等.基于关系图的无人机影像三维重建[J].光学精密工程, 2016, 24(6):1501-1509.

LI J P, JIANG T, XIAO D, et al.. On diagram-based three-dimensional reconstruction of UAV image[J]. Opt. Precision Eng., 2016, 24(6):1501-1509. (in Chinese)

陈卫东, 张兴家, 朱奇光, 等.基于混合特征的移动机器人图像匹配算法[J].中国机械工程, 2015, 26(9):1136-1141.

CHEN W D, ZHANG X J, ZHU Q G, et al.. An image matching algorithm for mobile robot localization based on hybrid features[J]. China Mechanical Engineering, 2015, 26(9):1136-1141. (in Chinese)

BETHENCOURT A, JAULIN L. 3D reconstruction using interval methods on the Kinect device coupled with an IMU[J]. International Journal of Advanced Robotic Systems, 2013, 10:1.

刘洋, 韩广良, 史春蕾.基于SIFT算法的多表情人脸识别[J].液晶与显示, 2016, 31(12):1156-1160.

LIU Y, HAN G L, SHI CH L. Recognition of expression-variant faces based on SIFT method[J]. Chinese Journal of Liquid Crystals and Displays, 2016, 31(12):1156-1160. (in Chinese)

赵立荣, 朱玮, 曹永刚, 等.改进的加速鲁棒特征算法在特征匹配中的应用[J].光学精密工程, 2013, 21(12):3263-3271.

ZHAOL R, ZHU W, CAO Y G, et al.. Application of improved SURF algorithm to feature matching[J]. Opt. Precision Eng., 2013, 21(12):3263-3271. (in Chinese)

SHAFER S A. Using color to separate reflection components[J]. Color Research & Application, 1985, 10(4):210-218.

TANG J R, ISA M A T, ASHIDI N. Intensity exposure-based bi-histogram equalization for image enhancement[J]. Turkish Journal of Electrical Engineering & Computer Sciences, 2016, 24(5):3564-3585.

翟优, 熊伟, 曾峦.利用单应约束实现结构化场景的匹配扩展[J].光学精密工程, 2015, 23(10):466-471.

ZHAI Y, XIONG W, ZENG L. Matching extension for structured scenes based on homography constraint[J]. Opt. Precision Eng., 2015, 23(10):466-471. (in Chinese)

浏览量

406

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

基于双投射结构光系统的多尺度点云融合

基于SURF-OKG特征匹配的三维重建技术

弱纹理环境下融合点线特征的双目视觉同步定位与建图

针对目标遮挡的自适应特征匹配网络

基于深度学习的多视图立体重建方法综述