一種新穎實用的基于視覺導航的三維重建算法

根據立體視覺在視覺導航應用中的特點，提出了由視差圖重建三維場景的整套算法。首先，推導視差圖里各點在攝像機坐標系下的三維坐標。其次，建立攝像機坐標系與車體坐標系的轉換關系，得到更有實際意義的在車體坐標系下各點的三維坐標。最后，通過分格顯示地貌的算法，大大減少了數據量。實驗結果表明，該算法計算量小、魯棒性強，完全滿足視覺導航中的實時性、準確性要求。

From the specialties of the stereo vision applied in vision— based navigation，we propose a whole solution to reconstruct 3D scene from the disparity map．First，we discussed how to get the camera— bas ed coordinates form the disparity map．Second，we developed the conversion from the camera— based to the vehicle— based co rdinates，thus，more practical reconstruction result was obtained．Finally，the quantity of data Was reduced greatly by subdividing whole scene into smaller subunits．The experiment results prove that our algorithm con meet the vision— based naviga—tion’S request for real—time an d validity ．