计算机科学 ›› 2019, Vol. 46 ›› Issue (11A): 251-254.
李银国, 周中奎, 白羚
LI Yin-guo, ZHOU Zhong-kui, BAI Ling
摘要: 大尺度智能驾驶场景重建能够在车辆驾驶环境中为车辆控制系统反馈周围道路交通的环境信息,并实现环境信息的可视化。目前,现有的三维重建方案主要面向结构化场景,对大尺度非结构化的智能驾驶场景进行三维重建时,在保证一定精度的情况下,难以满足智能驾驶系统所需的实时性。针对这一问题,文中提出了一种基于双目视觉的三维场景重建方法,首先通过优化立体匹配策略来提高立体匹配效率,再提出均匀保距的特征点提取算法RSD,减少三维点云计算与三角剖分耗时,提高大尺度智能驾驶场景重建的实时性。实验结果证明了该算法的有效性,采用所提算法对大尺度智能驾驶场景进行场景重建可得到良好的重建效果,且能够满足智能驾驶系统对实时性的需求。
中图分类号:
[1]谢志萍,雷莉萍.智能网联汽车环境感知技术的发展和研究现状[J].成都工业学院学报,2016,19(4):87-92. [2]李克强,戴一凡,李升波,等.智能网联汽车(ICV)技术的发展现状及趋势[J].汽车安全与节能学报,2017,8(1):1-14. [3]ZHANG X Y,GAO H B,GUO M,et al.A study on key technologies of unmanned driving[J].CAAI Transactions on Intelligence Technology,2016,1(1):4-13. [4]陈辉,马世伟,Andreas Nuechter.基于激光扫描和SFM的非同步点云三维重构方法[J].仪器仪表学报,2016,37(5):1148-1157. [5]徐超,李乔.基于计算机视觉的三维重建技术综述[J].数字技术与应用,2017,1(34):54-56. [6]孙宇阳.基于单幅图像的三维重建技术综述[J].北方工业大学学报,2011,23(1):9-13. [7]黄鹏程,江剑宇,杨波.双目立体视觉的研究现状及进展[J].光学仪器,2018,40(4):81-86. [8]BAYKANT B,ALAGO Z.Obtaining Depth Maps FromColorImages By Region Based Stereo Matching Algorithms[J].OncuBilim Algorithm And Systems Labs,2008,8(4):122-134. [9]何人杰.双目立体视觉区域局部匹配算法的改进及其实现[J].现代电子技术,2009,32(12):68-70. [10]肖志涛,卢晓方,耿磊,等.基于极线校正的亚像素相位立体匹配方法[J].红外与激光工程,2014,43(S1):225-230. [11]YU L,ZHANG D R, HOLDEN E J.A fast and fully automatic registration approach based on point features for multi-source remote-sensing images[J].Computers and Geosciences,2007,34(7):838-848. [12]HARRIS C,STEPHENS M J.A combined corner and edge detector[C]∥Proceedingsof Fourth Alvey Vision Conference.Manchester.England:IEEE,1998:147-151. [13]LOWE D G.Distinctive Image Features from Scale-InvariantKeypoints[J].International Journal of Computer Vision,2004,60(2):92-109. [14]BAY H,ESS A,TUYTELAARS T,et al.Speeded-Up Robust Features (SURF)[J].Computer Vision and Image Understanding,2007,110(3):346-359. [15]RUBLEE E, RABAUD V, KONOLIGE K,et al.ORB:an efficient alternative to SIFT or SURF[C]∥IEEE International Conference on Computer Vision.2011:2564-2571. [16]MUJAM,LOWE D G.Fast approximate nearest neighborswith automaticalgorithm configuration[C]∥Proceedingsof IEEE Conference on Computer Vision Theory and Applications.Lisbon,Portugal:IEEE Computer Society,2009:331-340. [17]CANDÉS E J,ROMBERG J K,TAO T.Stable signal recovery from incomplete and inaccurate measurements[J].Communications on Pure and Applied Mathematics,2006,59(8):1-15. [18]吕耀文,康凯.基于双目视觉的三维重建和拼接技术研究[J].光电子技术,2016,36(4):237-241. [19]汪神岳,刘强,王超然,等.基于双目立体相机的室外场景三维重建系统设计[J].计算机测量与控,2017,25(11):137-140. [20]谢增广.平面点集Delaunay三角剖分的分治算法[J].计算机工程与设计,2012,33(7):2652-2658. [21]姜翰青,王博胜,章国锋,等.面向复杂三维场景的高质量纹理映射[J].计算机学报,2015,38(12):2349-2360. |
[1] | 张源, 康乐, 宫朝辉, 张志鸿. 基于Bi-LSTM的期货市场关联交易行为检测方法 Related Transaction Behavior Detection in Futures Market Based on Bi-LSTM 计算机科学, 2022, 49(7): 31-39. https://doi.org/10.11896/jsjkx.210400304 |
[2] | 曾志贤, 曹建军, 翁年凤, 蒋国权, 徐滨. 基于注意力机制的细粒度语义关联视频-文本跨模态实体分辨 Fine-grained Semantic Association Video-Text Cross-modal Entity Resolution Based on Attention Mechanism 计算机科学, 2022, 49(7): 106-112. https://doi.org/10.11896/jsjkx.210500224 |
[3] | 程成, 降爱莲. 基于多路径特征提取的实时语义分割方法 Real-time Semantic Segmentation Method Based on Multi-path Feature Extraction 计算机科学, 2022, 49(7): 120-126. https://doi.org/10.11896/jsjkx.210500157 |
[4] | 刘伟业, 鲁慧民, 李玉鹏, 马宁. 指静脉识别技术研究综述 Survey on Finger Vein Recognition Research 计算机科学, 2022, 49(6A): 1-11. https://doi.org/10.11896/jsjkx.210400056 |
[5] | 封雷, 朱登明, 李兆歆, 王兆其. 一种基于遮罩的稀疏点云滤波算法 Sparse Point Cloud Filtering Algorithm Based on Mask 计算机科学, 2022, 49(5): 25-32. https://doi.org/10.11896/jsjkx.210600129 |
[6] | 高元浩, 罗晓清, 张战成. 基于特征分离的红外与可见光图像融合算法 Infrared and Visible Image Fusion Based on Feature Separation 计算机科学, 2022, 49(5): 58-63. https://doi.org/10.11896/jsjkx.210200148 |
[7] | 左杰格, 柳晓鸣, 蔡兵. 基于图像分块与特征融合的户外图像天气识别 Outdoor Image Weather Recognition Based on Image Blocks and Feature Fusion 计算机科学, 2022, 49(3): 197-203. https://doi.org/10.11896/jsjkx.201200263 |
[8] | 任首朋, 李劲, 王静茹, 岳昆. 基于集成回归决策树的lncRNA-疾病关联预测方法 Ensemble Regression Decision Trees-based lncRNA-disease Association Prediction 计算机科学, 2022, 49(2): 265-271. https://doi.org/10.11896/jsjkx.201100132 |
[9] | 常子霆, 施雨晴, 王俊, 于明鹤, 姚兰, 赵志滨. 基于双目视觉的车辆速度测量方法 Vehicle Speed Measurement Method Based on Binocular Vision 计算机科学, 2021, 48(9): 135-139. https://doi.org/10.11896/jsjkx.201000047 |
[10] | 张鹏, 王新晴, 肖毅, 段宝国, 许鸿辉. 基于语义边缘驱动的实时双目深度估计算法 Real-time Binocular Depth Estimation Algorithm Based on Semantic Edge Drive 计算机科学, 2021, 48(9): 216-222. https://doi.org/10.11896/jsjkx.200800203 |
[11] | 张师鹏, 李永忠. 基于降噪自编码器和三支决策的入侵检测方法 Intrusion Detection Method Based on Denoising Autoencoder and Three-way Decisions 计算机科学, 2021, 48(9): 345-351. https://doi.org/10.11896/jsjkx.200500059 |
[12] | 冯霞, 胡志毅, 刘才华. 跨模态检索研究进展综述 Survey of Research Progress on Cross-modal Retrieval 计算机科学, 2021, 48(8): 13-23. https://doi.org/10.11896/jsjkx.200800165 |
[13] | 张丽倩, 李孟航, 高珊珊, 张彩明. 面向计算机辅助舌诊关键问题的解决方案综述 Summary of Computer-assisted Tongue Diagnosis Solutions for Key Problems 计算机科学, 2021, 48(7): 256-269. https://doi.org/10.11896/jsjkx.200800223 |
[14] | 暴雨轩, 芦天亮, 杜彦辉, 石达. 基于i_ResNet34模型和数据增强的深度伪造视频检测方法 Deepfake Videos Detection Method Based on i_ResNet34 Model and Data Augmentation 计算机科学, 2021, 48(7): 77-85. https://doi.org/10.11896/jsjkx.210300258 |
[15] | 霍帅, 庞春江. 基于Transformer和多通道卷积神经网络的情感分析研究 Research on Sentiment Analysis Based on Transformer and Multi-channel Convolutional Neural Network 计算机科学, 2021, 48(6A): 349-356. https://doi.org/10.11896/jsjkx.200800004 |
|