红外与激光工程, 2018, 47 (9): 0917009, 网络出版: 2018-10-06  

点特征柔性物体三维运动恢复方法

Method for 3D motion recovery of non-rigid object with point features
作者单位
江苏科技大学 计算机学院, 江苏 镇江 212003
摘要
为了使用两台标定的高速相机获取点特征柔性物体的三维运动轨迹, 提出了一种实用的点特征柔性物体三维运动恢复方法, 包括图像空间重建、时间序列重建等步骤。其中空间和时间序列重建是三维运动恢复的核心部分, 在空间重建方面, 使用椭圆拟合得到图像上点的坐标, 并根据马氏距离寻找匹配点, 然后利用三角测量法计算空间三维点; 在时间序列重建方面, 利用搜索方法匹配点前后图像坐标, 从而实现运动过程的三维恢复。然后利用重建结果计算运动柔性物体的速度、加速度、曲率变化等重要参数。实验结果表明, 该三维运动恢复方法提高了空间序列匹配的速度和准确度, 有效地实现了时间序列的匹配, 减少了整个重建过程的时间。通过对目标的重建, 准确地获得了物体的三维运动数据。
Abstract
In order to obtain 3D moving trajectory of non-rigid object with point feature, two calibrated high-speed cameras were used. A practical 3D motion recovery method of non-rigid object with point feature was proposed. The method included image spatial reconstruction, temporal series reconstruction and other steps. The spatial reconstruction and temporal series reconstruction were the core of 3D motion recovery. In spatial reconstruction, the coordinates of the points on the image were obtained by using ellipse fitting method, and the matching points were searched according to the Mahalanobis distance. Then, triangulation was used to calculate the 3D points. In the aspect of temporal series reconstruction, the searching method was used to match the coordinates of the points between sequential images. So, the 3D motion recovery of the movement process was realized. Then, the reconstruction result was used to calculate the parameters, such as speed, acceleration and curvature change of the non-rigid object. The experimental result shows that the method improves the speed and accuracy of the spatial matching and realizes the temporal series matching simply and effectively. What′s more, the time of the whole reconstruction process is reduced. Through the reconstruction of the target, the 3D motion data of the object is obtained accurately.

龚肖, 史金龙, 廖芳. 点特征柔性物体三维运动恢复方法[J]. 红外与激光工程, 2018, 47(9): 0917009. Gong Xiao, Shi Jinlong, Liao Fang. Method for 3D motion recovery of non-rigid object with point features[J]. Infrared and Laser Engineering, 2018, 47(9): 0917009.

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