Study On Scene Reconstruction Based On Robot And Image Fusion

Scene reconstruction technique is the research focus of computer vision. With the development of computer graphics technology and the virtual simulation technology in urban planning, real estate, tourism, science and education, and military, virtual environment system has been more widely used. It has a development trend from one scene to the complex multi-scene. With the continuous improvement of modem information perception, recognition, transmission and processing technologies, virtual environment system need to be richer and more intuitive method for modeling and performance of large amounts of information and objects, and to provide the conditions for the unified management of the information in the virtual environment.Scene reconstruction is formed by a single picture or a lot of pictures been captured by the mobile robot camera.The beginning of the thesis introduces the research background and situation of scene reconstruction in details, which shows its significance and broad application prospects. Then we describe and compare the existing methods of scene reconstruction, and determine to use image mosaic and TIP to accomplish the design. The main results of the work are as follows:(1) The image mosaic theory of image-based geometric transformation is formed. Panorama modeling theory is also decided. With the technology of SIFT feature point matching method and image geometry transform relations theory,we can We can splice different picture which have a different size, angle and position.(2) Vanishing Point TIP image modeling method is formed. I study the modeling calculation methods about one single vanishing point and double vanishing points. The obtaining process of the depth information of the three-dimensional model is completed.(3) Improved model is created about vanishing-line TIP image modeling. The defect of the vanishing-point TIP method is found. The transition model about Vanishing-point model to vanishing-line model of this construction is formed. And Improved model is created about vanishing-line TIP image modeling.Image roaming theoretical based on depth calculation is formed. We can roam the vanishing-line TIP model at last.(4) The Panorama technology and the vanishing point TIP technology are combined.The two methods are complementary in the perfomance effects.The two models can be connected smoothly.