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2024年3月27日发(作者：)

基于双目视觉的智能驾驶三维场景的重建技术研究

摘 要

三维重建作为计算机视觉技术中的一个重要分支，其研究一直处于火热状态，如今

已在工业测量、影视娱乐、医疗科技以及文物重建等各方面得到广泛应用。本文则主要

对智能驾驶领域的双目视觉三维场景重建技术进行研究。

首先对针孔相机以及双目相机的成像原理进行讲解，介绍相机畸变产生及图像校正

原理。然后搭建双目相机三维重建系统，选取张正友标定法对相机进行标定，获取所需

相机内外参数并对相机采集到的图片进行校正。校正完成后通过立体匹配算法对图像进

一步处理，获取视差图，再通过重投影矩阵由视差图计算出三维点坐标并重建三维点云

模型。最后对实验结果进行分析，总结实验结果及存在的不足。

关键词：双目视觉；相机标定；立体匹配；三维重建

Research on 3D Reconstruction of Intelligent Driving

Based on Binocular Vision

Abstract

As an important branch of computer vision technology, three-dimensional reconstruction

has been in a hot state. Now it has been widely used in industrial measurement, studio

entertainment, medical technology and cultural relic reconstruction. This paper mainly studies

the 3D reconstruction technology based on binocular vision in the field of intelligent driving.

Firstly, the paper explains the image-forming principle of pinhole camera and binocular

camera, and introduces the generation of camera distortion and the principle of image correction.

Secondly, a binocular camera 3D reconstruction system is built. Zhang Zhengyou calibration

method is selected to calibrate the camera, required camera internal and external parameters are

obtained and images collected by the camera are corrected. After the correction, stereo matching

algorithm is used to further process the image to obtain the parallax map. 3D point coordinates

is calculated via parallax map through the reprojection matrix and 3D point cloud model is

reconstructed. Finally, the experimental results are analyzed, and the results and shortcomings

are summarized.

Keywords：Binocular Vision；Camera Calibration；Stereo Matching；3D Reconstruction

本文标签： 进行双目视觉场景研究

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