基于多RGBD摄像机的动态场景实时三维重建系统

使用多台基于FPGA嵌入立体计算的RGBD摄像机搭建动态场景实时三维重建系统. RGBD摄像机能够以视频速度输出场景的彩色(RGB)图像及对应的稠密视差(disparity)图像,由视差图像可进一步得到场景的深度图. 多台RGBD摄像机运行在统一的外部时钟和控制信号下,可实现对目标场景数据的同步采集. 为了提高各视点所获取的场景深度图质量,根据多RGBD摄像机系统视点分布较为稀疏的特点,使用概率密度函数估计的方法进行多视点深度图的融合. 融合后的深度图由PC集群进行处理,可实时生成所拍摄场景的三维空间点云. 实验结果表明,本文系统可以有效地重建包含多个运动目标的大型动态场景. 

A Real-Time System for 3D Recovery of Dynamic Scenes Based on Multiple RGBD Imagers

This paper presents a real-time system for 3D recovery of dynamic scenes by using multiple FPGA-based RGBD imagers. The RGBD imager developed in our lab produces color images combined with the corresponding dense disparity maps encoding depth information. Multiple RGBD imagers were externally triggered to sense the 3D world synchronously. To improve the quality of the acquired depth map, a probabilistic method for fusing depth maps from multiple RGBD imagers with sparsely distributed viewpoints was proposed. The fused depth maps of a dynamic scene from multiple viewpoints were then streamed to a PC cluster to generate the 3D point cloud of the dynamic scene in real time. Experimental results show that our system is very promising for the 3D recovery of large scale dynamic scenes with multiple moving objects.