光学精密工程2017，Vol.25Issue(6)：1635-1644,10.DOI:10.3788/OPE.20172506.1635
应用摄像机位姿估计的点云初始配准
Initial registration of point clouds using camera pose estimation
摘要
Abstract
Based on the mathematical model of camera pose estimation,a feature point detection method of camera images before and after movement was proposed to obtain relative posture matrix of camera before and after movement,which can solve initial registration problem of point clouds derived from machine vision.Firstly,the estimation model of camera pose was introduced,including essential matrix,rotation matrix and translation matrix.Secondly,the detection,description and matching of feature points for SURF operator were introduced.On this basis,SURF feature points matching of camera images before and after movement and depth estimation model were respectively proposed for binocular vision and monocular structured light system.Finally,the acquisition of point clouds derived from binocular vision and monocular structured,feature points detection and matching of camera images before and after movement as well as camera depth estimation were realized experimentally.The mathematical model of camera pose was estimated to solve the rotation matrix and the translation matrix,and the residual analysis was carried out on the translation matrix for eliminating gross errors.In the experiment,the method of initial registration of point cloud based on feature point and based on images as contrast,the results show that the mean square error of the corresponding feature points are reduced to 12.46 mm.The result verifies the feasibility of the method,and indicates that the point registration method can obtain good initial values for accurate point cloud registration.关键词
点云初始配准/位姿估计/SURF算子/双目视觉/结构光Key words
initial registration/pose estimation/SURF operator/binocular vision/structured light分类
机械制造引用本文复制引用
郭清达,全燕鸣,姜长城,陈健武..应用摄像机位姿估计的点云初始配准[J].光学精密工程,2017,25(6):1635-1644,10.基金项目
广东省省级科技计划研发与产业化项目(No.2013B090600052) （No.2013B090600052）
