Opto-Electronic Engineering, Volume. 51, Issue 10, 240180(2024)
A 3D reconstruction method based on multi-view fusion and hand-eye coordination for objects beyond the visual field
Figures & Tables(18)
![Performance gradient stratification diagram of the depth camera[22]](/Images/icon/loading.gif){kind=icon}
Fig. 1. Performance gradient stratification diagram of the depth camera[22]
Fig. 5. Examples of four cases for judging the starting point of a scan. (a) Case 1; (b) Case 2; (c) Case 3; (d) Case 4
Fig. 7. Schematic diagram of improved voxel filtering method based on the center of gravity
Fig. 10. Multi-view fusion of hand-eye coordination point cloud splicing
Fig. 12. Filtering results of the proposed method for point clouds. (a) Down sampling processing result; (b) HC-RANSAC processing result; (c) Statistical filtering processing result; (d) Moving least squares processing result
Fig. 13. Distribution of relative distance between corresponding points
Table 1. Experimental results of measurement error analysis
View tableView in ArticleTable 1. Experimental results of measurement error analysis
数据指标 实验Ⅰ 实验Ⅱ 实验Ⅲ 实验Ⅳ 实验Ⅴ 实验Ⅵ 实验Ⅶ 0 0.199 0.291 0.404 0.501 0.692 1.012 0 0.199 0.290 0.400 0.502 0.697 1.006 0 0.199 0.291 0.403 0.499 0.695 1.016 0 0.199 0.291 0.403 0.502 0.695 1.017 0 0.199 0.290 0.401 0.501 0.694 1.014 0 0.199 0.291 0.402 0.499 0.696 1.014 0 0.199 0.291 0.402 0.501 0.688 1.026 0 0.199 0.291 0.402 0.502 0.695 1.017 0 0.199 0.291 0.401 0.503 0.690 1.009 0 0.199 0.290 0.403 0.499 0.687 1.011 0.15 0.198 0.291 0.403 0.505 0.705 1.047 0 0.199 0.2907 0.4021 0.5009 0.6929 1.0142 0.15 0.001 0.0003 0.0009 0.0041 0.0121 0.0328 100.00 0.51 0.10 0.22 0.81 1.72 3.13 0 0 0.00046 0.00114 0.00138 0.0033 0.00517
Table 2. Hierarchical error of ranging performance
View tableView in ArticleTable 2. Hierarchical error of ranging performance
测距性能层次 距离过近 可接受范围 距离过远 距离阈值/m ( 0,0.15 ] ( 0.15,0.6 ) [ 0.6,∞ ) ≤0.005 ≥0.01 ≤1 >1
Table 3. Statistical values of distance in each direction
View tableView in ArticleTable 3. Statistical values of distance in each direction
均值/m 众数/m 标准差 相对距离 3.69×10−6 5.29×10−6 4.20×10−6 X方向相对距离 5.39×10−5 −1.48×10−5 7.57×10−4 Y方向相对距离 6.21×10−5 1.45×10−4 8.13×10−4 Z方向相对距离 3.29×10−4 −1.54×10−3 1.53×10−3
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Botao Zhang, Zhengqiang Li, Chaohao Hua, Jialong Xie, Qiang Lu. A 3D reconstruction method based on multi-view fusion and hand-eye coordination for objects beyond the visual field[J]. Opto-Electronic Engineering, 2024, 51(10): 240180
Paper Information
Category: Article
Received: Aug. 4, 2024
Accepted: Sep. 26, 2024
Published Online: Jan. 2, 2025
The Author Email: Zhang Botao (张波涛)
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