Research On 3D Reconstruction Based On Image Sequences Of Monocular Vision And Its Application

As a new measuring technique,visual measurement has greatly promoted the development of modern production and life.Monocular sequence image measurement system is widely used in the field of UAV sequence image reconstruction and robot vision navigation because of its unique advantages.Monocular vision measuring system is established in this paper,we deeply studied monocular two-view measurement model,image matching based on homomorphic matrix,scene reconstruction from multiple uncalibrated views and other key technologies.The specific research contents are as follows:(1)The monocular scene 3D reconstruction system model is studied.We discuss the scene reconstruction polysemy,and analyze the correctness of the two-view reconstructing theory by the decomposition of essential matrix,and furthermore verifies the feasibility of this method through related experiments.(2)Because the distance of baseline among image sequences is short,a method of image mismatching points elimination based on homomorphic matrix constraint is proposed.Aiming at the characteristics of light plane of line structured light sensor,a calibration method of line structured light sensor which can be calibrated in real time without any specific target is proposed based on plane induced homomorphic matrix.(3)The method of scene 3D reconstruction based on multiple uncalibrated view is studied and analyzed.By iteratively decomposing the measurement matrix,the projective reconstruction of the scene is obtained.Then two different methods of solving the projective transformation matrix are proposed according to the different parameters of the camera.Then the projective reconstruction is transferred to the metric reconstruction.(4)The scene reconstruction software platform based on single-camera sequence image is developed.The software platform developed initially which has the functions of camera calibration,line structure optical sensor calibration,and sequence image reconstruction.A prototype of "ladybug" portable bionic spherical aircraft has been developed,the test flight of the prototype is initially completed.