Accurate 3D Reconstruction Of Indoor Scenes Via Structured Light Sensing Technology

3D reconstruction is a classical research topic in computer vision domain.Vision-based 3D reconstruction method obtains spatial information by processing images.Vision-based 3D reconstruction methods obtain spatial information from single or multiple images,which can be divided into two categories according to whether the active light source is used or not.3D reconstruction technology based on structure light is an active vision method with active light source.This thesis aims to explore a rapid,accurate,robust method for indoor scenario reconstruction.This thesis proposes two indoor scenario reconstruction methods based on spherical stereo vision and line structure light with active light source respectively.This thesis investigates a rapid active reconstruction method based on spherical stereo vision to achieve high reconstruction efficiency.Binocular panoramic stereo vision system consists of two panoramic cameras constructed from four normal cameras with wide-angle lenses.This thesis constructs a spherical stereo vision model based on spherical imaging-model to fit binocular panoramic stereo vision system model.A experimental system was built with four fish-eye cameras and a laser-line projector.An indoor scenario was reconstructed by the experimental system.Experimental results indicate that this method improves the reconstruction efficiency in condition of maximal precision by taking full advantage of the wide field of view of the lens.This thesis researches a 3D reconstruction method based on line structure light and turntable for high scanning precision and precision.A camera and a laser-line projector were used to construct a laser-line 3D reconstruction system.The 3D scanning system was driven by a 360-degree controllable turntable so that panoramic indoor scenario can be reconstructed.A modified laser-line plane calibration method was proposed for the robust plane function parameters.An automatic registration method based on the axis of rotation was proposed for 3D point cloud obtained in the different angle of view.A 360-degree indoor scenario scanning experiment was conducted with the laser-line turntable 3D reconstruction system.Experimental results indicate that this method improves accuracy and efficiency of the reconstruction system in condition of minimum measurement error by taking full advantage of the turntable.Measurement error of two systems was measured by experiments.Measurement results prove the feasibility of two reconstruction methods and the reliability of two reconstruction methods.Although expected results were obtained,limitations still exist in our methods.Distortion of the image edge in spherical stereo vision method and registration precision in laser-line structure light turntable method are still needed for further research.