The Research On 3D Reconstruction Based On Binocular Stereo Vision

Stereo Vision is the classical problem of Computer Vision Area. Binocular Stereo Vision becomes the famous research of Computer Vision Area, due to its eyes-similar characteristic. This paper is based on the navigation of mobile robot by Binocular Stereo Vision. It includes the research on calibration, image pretreatment, image matching and 3D reconstruction.In the stage of calibration, we use the method which was presented by Zhang Zhengyou, to calibrate the single camera and rectify the lens distortion. Furthermore, we use the method presented by Fusiello to do the double cameras calibration and epipolar rectification.In the stage of image pretreatment, we make an improvement of LOG arithmetic, and present a four-step image processing method. It can both eliminate the noise and balance the brightness difference, and get a high quality images finally.In the stage of stereo matching, in order to get dense disparity images, we do a lot of research on area matching method and compare the effect caused by different operators and windows.In the stage of 3D reconstruction, due to the disadvantage of mapping method, which is so-called "superiority" of triangulation in the 3D is not as good as in the 2D, in this paper, it presents a new approach that getting the triangulation of 3D scattered points directly. After the formation of the first triangle, use the growing method to extend the 3 edges of each triangle until all the triangles have been finished. It presents the angle of the two normal vectors formed by the new and the old triangles, the threshold distance and the principle of maximal-minimal angle in the paper to constrain the growing of the triangles, so as to reduce the searching area, improve the correctness and confirm the quality of the mesh. The method is proved to be highly exact and efficient. Also, we use OpenGL to make the model looks more vivid.