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Title:
IMAGE RECONSTRUCTION METHOD AND APPARATUS, AND DEVICE
Document Type and Number:
WIPO Patent Application WO/2023/207756
Kind Code:
A1
Abstract:
An image reconstruction method and apparatus, and a device. The image reconstruction method comprises: when a multi-line laser device projects N beams of line structured light to an object under test, acquiring a first original image which is collected by a first camera, and a second original image which is collected by a second camera (201); determining a first target image corresponding to the first original image and a second target image corresponding to the second original image (202); determining a first light stripe center line corresponding to each first light stripe area in the first target image, and a second light stripe center line corresponding to each second light stripe area in the second target image (203); determining a plurality of key point pairs on the basis of the first light stripe center lines and the second light stripe center lines, wherein each key point pair comprises a first pixel point in the first light stripe center line and a second pixel point in the second light stripe center line (204); determining three-dimensional points on the basis of the key point pairs and a camera calibration parameter (205); and generating a three-dimensional reconstructed image on the basis of the three-dimensional points corresponding to the plurality of key point pairs (206).

Inventors:
ZHANG HUALIN (CN)
LONG XUEXIONG (CN)
CHANG XU (CN)
SHENG HONG (CN)
LI GENGLEI (CN)
XI JIAHAO (CN)
SUN YUANDONG (CN)
Application Number:
PCT/CN2023/089562
Publication Date:
November 02, 2023
Filing Date:
April 20, 2023
Export Citation:
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Assignee:
HANGZHOU HIKROBOT CO LTD (CN)
International Classes:
G06T17/00; G06T7/521
Domestic Patent References:
WO2018103152A12018-06-14
Foreign References:
CN114898038A2022-08-12
CN114782632A2022-07-22
CN114820939A2022-07-29
CN108267097A2018-07-10
US20180356213A12018-12-13
CN103900494A2014-07-02
CN110009687A2019-07-12
Attorney, Agent or Firm:
BEIJING BESTIPR INTELLECTUAL PROPERTY LAW CORPORATION (CN)
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