Research On Image-Based Rendering Teleoperation Virtual Environment Construction Technology

Image-based rendering is a new subject that has been developed since 20 century 90 decade in the world, and has been applied extensively in building of virtual environment. It is a present research hot point of information scientific field. Image-based rendering virtual environment building is the intersect and fusion of computer science and information science, it is concerned with theory and accomplishment of computer graphics, computer vision, image processing, pattern recognition and artificial intelligence subjects. It has broken through the traditional theoretical configuration of geometry-based modeling and rendering, used the image processing technology to mosaic a isolated sequence real scene image and formed a panorama that can reflect completely scene information. Image-based rendering scene building technology avoid the overelaborate of geometry-based modeling method, generate scene of photograph real sense by direct image alternate and don't need scene examine knowledge, rendering speed is unconcerned the complex degree of scene, suit the scene building of unknown environment especially.The scene building of having vision telepresence robot teleoperation virtual environment is virtual reality technical important application in intelligent robot field. Robot teleoperation system face an unknown environment usually, so image-based rendering is used to build robot teleoperation virtual environment. To understand image-based rendering virtual environment building technology overall, this paper has first introduced the theoretical basic and development of traditional geometry-based rendering and image-based rendering, then summarized research present situation and develop direction of image-based rendering technology. Revolve around how to used the image processing technology to mosaic a isolated sequence real scene image and formed a panorama that can reflect completely scene information, some kinds of panoramic mosaic mothd has put forward, and realized the wander in robot panoramic environment.According to robot sport, camcorder image may appear spin, camera lens flexible and image transmission course in existence disturb. This paper have put forward a kind of based on phase correlate adaptive image mosaic algorithm that first carries out the edge of original image to get 2 values the edge, so avoid illumination condition the influence to image. The edge image will be alternated to logarithm polar coordinates, in logarithm polar coordinates the revolving angle and camera lens flexible are alternated two displacements , so the phase correlate law can be used conveniently to get the revolving angle and camera lens flexible. Then in descartes coordinates the two images of joining together is adjusted, used the edge image phase correlate law to make storing only between two images reign and joining together that realizes two images mosaicing.To raise speed and precision of mosaic panorama, a kind of image-based feature corner-point twice match algorithm is put forward, the algorithm utlize the revolving consistency and not sensitive illumination of corner-point. At first the SUSAN operator is used to take out the feature corner-point of the two adjacent images. Then using the fast RANSAC algorithm to calculate the homography matrix, and feature corner-point in overlapping regional image is regard as sport points, KLT trail algorithm is used in the accurate location of feature corner-point, homography matrix is calculated accurately. Finally, the differentiate sampling for input image and reference image, pour into a larger image, and realize the mosaic and fusion of panorama.In building robot teleoperation virtual environment, when complete scene information is...