Registration Of PMD Camera Distance Image And High Resolution Color Image Based On Distance Information

PMD camera is a novel3D camera, can capture depth, amplitude and intensityinformation in real-time. It has a wide range of applications in many fields, such asvehicle safety, computer vision, human-computer interaction, multimedia. Althoughthe camera can provide accurate distance information, it can acquire low resolutiongray image and distance information, which can’t satisfy human visual demand forcolor high-resolution images. In this thesis we combined PMD camera with2Dcolor camera, and introduced registration of PMD depth image and high-resolutioncolor image. It can get high resolution color3d information which provided aresearch base for accurately describe and represent of3D objects and scene.This thesis includes the following contents:(1) We introduced the measurement principle, mathematical model and systemarchitecture of PMD camera, summarized the related work and application about2D/3D-camera all over the world, and analysis of registration difficulty of PMDcamera distance image and high resolution color image.(2) According to obtain image characteristics of PMD camera and highresolution color camera, and combined the features of2D/3D-camera, we proposed2D affine transformation registration method based on distance information.Compared with the external and internal parameters of the camera method, theproposed registration method can be done in real-time and has high registrationprecision.(3) In order to improve the registration precision of PMD depth images andhigh-resolution color image, we achieved the nearest neighbor interpolation basedon Voronoi diagram and nearest neighbor by segmentation interpolation based onVoronoi diagram. And verify the validity of these two methods. At the same timecompared the two methods with other interpolation methods. Experimental resultsshow the images of these two interpolation methods are more closed to the idealimages and the methods are much better.