Long-range 3D reconstruction based on wide-baseline stereo vision

被引：0

作者：

Wang W.-Q. ^{[1
]}

Xu J. ^{[1
]}

Du X. ^{[1
]}

Liu J.-L. ^{[1
]}

机构：

[1] Zhejiang Provincial Key Laboratory of Information Network Technology, Institute of Information and Communication Engineering, Zhejiang University

来源：

Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science) | 2010年 / 44卷 / 06期

关键词：

3D reconstruction; Self-calibration; Stereo vision; Wide-baseline;

D O I：

10.3785/j.issn.1008-973X.2010.06.004

中图分类号：

学科分类号：

摘要：

A self-calibration based wide-baseline stereo vision technique was proposed for remote scene's 3D reconstruction in vision based navigation of lunar rover. Correspondences between stereo rig were obtained by extracting and matching of scale-invariant feature transform (SIFT) features. Then with the epipolar geometrical description of rectifying collineation, the least-squares solution to Sampson error was achieved by Levenberg-Marquardt (LM) algorithm, which obtained the camera parameter and the rectified stereo rig. Following, the wide-baseline dense matching was completed using seeds' disparity expansion algorithm. Finally, target's 3D reconstruction was achieved on the calculated disparity. This technique is demonstrated to have good performance on a number of remote natural mountain scenes and solve the problems of field calibration, change in illumination, perspective deformations and occlusions in wide-baseline stereo vision.

引用

页码：1073 / 1078

页数：5

共 9 条

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