自动化学报2017，Vol.43Issue(4)：674-684,11.DOI:10.16383/j.aas.2017.c160261
快速鲁棒的城市场景分段平面重建
Rapid and Robust Piecewise Planar Reconstruction of Urban Scenes
摘要
Abstract
For image-based urban scene reconstruction,traditional pixeMevel or region-level methods often fail to achieve satisfactory results because of various negative factors such as illumination variations,perspective distortion,poorly textured regions,etc.To address this problem,a rapid and robust piecewise planar stereo method is proposed in this paper.Under the scene piecewise planar assumption and by taking into account the structural characteristics of urban scenes,the proposed method at first extracts sufficient and reliable candidate planes from initial spatial points based on the connected-region detection;then the problem of scene reconstruction is converted into a plane labeling problem under the Markov random field (MRF) framework.By virtue of the high reliability of our extracted candidate planes and the energy model properly designed by incorporating geometric constraints,spatial visibility and photo-consistency measures,a complete scene structure is effectively reconstructed.Experiment results show that the proposed method can satisfactorily handle the low-reliability and incomplete-reconstruction problems in traditional methods with computational efficiency.关键词
能量最小化/平面拟合/三维重建/深度图Key words
Energy minimization/plane fitting/3D reconstruction/depth map引用本文复制引用
王伟,高伟,朱海,胡占义..快速鲁棒的城市场景分段平面重建[J].自动化学报,2017,43(4):674-684,11.基金项目
国家高技术研究发展计划(863计划)(2015AA124102),国家自然科学基金(61273280,61333015,61472419),河南省自然科学基金(162300410347),河南省科技攻关项目(162102310589,162102210396),河南省高校重点科研项目(17A520018,17A520019,15A520116,16B520034),周口师范学院高层次人才科研启动基金(zknuc2015103)资助 （863计划）
Supported by National High Technology Research and Development Program of China (863 Program) (2015AA124102),National Natural Science Foundation of China (61273280,61333015,61472419),Natural Science Foundation of of Henan Province (162300410347),Key Scientific and Technological Project of Henan (162102310589,162102210396),College Key Research Project of Henan (17A520018,17A520019,15A520116,16B520034),Scientific Research Starting Foundation for Advanced Talents of Zhoukou Normal University (zknuc2015103) （863 Program）
