多视照片全局约束下的Kinect在线室内三维测图技术研究

项目名称： 多视照片全局约束下的Kinect在线室内三维测图技术研究

项目编号： No.41301517

项目类型： 青年科学基金项目

立项/批准年度： 2014

项目学科： 天文学、地球科学

项目作者： 呙维

作者单位： 武汉大学

项目金额： 24万元

中文摘要： Kinect作为新型RIM（Range Imaging）相机的杰出代表，具有独特的数据特点，以其为切入点，发展RIM相机在线三维测图技术，对室内导航具有重要意义。现有Kinect技术进行大场景三维测图时，相机连续定位易出现累计误差，导致模型重建不精确。针对该问题，本课题以"多视照片全局约束，Kinect局部精细建模"为总体指导思想，提出利用高清多视照片的宽视场信息预先构建闭环模式的全局约束网，来对Kinect建模过程进行全局控制，通过突破Kinect局部精细模型在全局约束网中的粗定位和实时平差关键技术，实现精确可控的在线测图。通过研究全局约束网构建方法、基于质量检查的Kinect定位失效判断、辅助定位点支持的启发式重定位、Kinect与高清照片的实时平差算法，形成"定位失效判断-辅助粗定位-平差精定位"技术链条，丰富RIM相机测图理论与方法体系，提升室内复杂环境下快速三维测图的应用价值。

中文关键词： 实时摄影测量；三维表面建模；三维测图；室内；Kinect

英文摘要： Kinect as an outstanding representative of new RIM (Range Imaging) camera has different data features. Taking Kinect as a starting point, the development of RIM camera 3D mapping technology is significant for indoor navigation application. Aiming at the existing problems of Kinect accumulated error with continuous location, this paper put forwards a new idea that using multi-view photos as global constraints with online Kinect mapping. In advance, we take multi-view photos with wide field information to build a closed-loop model of global constraint network. In support of this network, we make breakthroughs on coarse positioning and real-time joint adjustment for fine position. The objective is to realize the precise and controllable online 3D mapping. Through the research of construction method of global constraint network, quality inspection based Kinect failure positioning judgment, heuristic Kinect relocation of auxiliary feature point support and real time joint adjustment with Kinect and multi-view photos, this paper will form the technology chain of "positioning failure judgment-assisted coarse positioning-adjustment precision positioning", which can not only enrich the RIM camera measurement system theory and method, but also has important application value in rapid 3D mapping for complex indoor environm

英文关键词： Real-time photogrammetry；3D surface modeling；3D Mapping；Indoor；Kinect