基于移动终端的三维脚型数据获取

发布时间：2018-05-08 04:23

本文选题：三维重建 + IMU和视觉融合　；参考：《浙江大学》2017年硕士论文

【摘要】：在电商化的推动下,脚型三维数据的获取工作在鞋类定做领域占据重要地位。传统的计算机多视觉几何算法对三维脚型进行重建需要满足各种各样的条件,如要求脚上纹理明显(要求数据获取时穿带特殊标记的袜子等),极为不便,阻碍了脚型重建技术的普遍适用性发展。本文基于移动终端对脚型数据的获取问题进行研究,实现了一个自动脚型模型生成系统。本文的主要工作有以下几方面:1.由于纯视觉的三维脚型重建算法对输入图像的纹理要求较高,鲁棒性差。本系统在以纯视觉重建算法为主导的同时,融入了IMU数据估计图像帧对应的摄像机姿态,当视觉重建算法因为特征点过少或其它原因失败时,用IMU预测的摄像机姿态作为当前图像帧的初始值,结合特征点、轮廓等已有数据的相互约束关系进一步优化摄像机姿态。2.由于噪声等原因带来的误差,得到的脚型三维点云与真实脚型之间还存在一定的差异,特别是当输入图像帧并没有包含整个脚型时,重建出的三维点云存在部分点缺失的情况。为了解决上述问题,引入参考脚型模型作为参考,当重建出的三维点云有缺失部分时,先用参考脚型模型的数据进行补充。然后对两模型之间的对应点距离、面片法向量、网格曲率、轮廓、骨架等一系列数据信息建立约束关系,调整重建点云中的三维点坐标进一步修复重建模型,最终得到完整的三维脚型网格模型。3.基于本文的研究成果,实现了一个基于移动终端的三维脚型数据获取系统,该系统实现了用带IMU传感器的移动终端获取静止状态下的脚型三维数据的功能,并通过测量脚型形状的相关参数来衡量最终重建出的脚型的精确度。最后,文章对目前已有的工作进行了总结,并对后续工作做出了展望。
[Abstract]:With the promotion of E-quotient, the acquisition of three-dimensional data plays an important role in the field of shoe customization. Traditional computer multi-vision geometry algorithm for 3D foot reconstruction needs to meet a variety of conditions, such as requiring a clear texture on the foot (require data acquisition wearing specially marked socks, etc.), extremely inconvenient, It hinders the development of universal applicability of foot reconstruction technology. In this paper, an automatic foot model generation system based on mobile terminal is studied. The main work of this paper is as follows: 1. The 3D foot reconstruction algorithm based on pure vision requires high texture of input image, and its robustness is poor. The system takes pure visual reconstruction algorithm as the dominant method, and integrates IMU data to estimate the camera posture corresponding to the image frame. When the visual reconstruction algorithm fails because of too few feature points or other reasons, The camera attitude predicted by IMU is used as the initial value of the current image frame, and the camera attitude is further optimized by using the constraint relation of the existing data such as feature points and contours. Because of the error caused by noise, there is still a certain difference between the 3D point cloud and the real foot, especially when the input image frame does not contain the whole foot, the reconstructed 3D point cloud is partially missing. In order to solve the above problem, the reference foot model is introduced as the reference. When the reconstructed 3D point cloud has missing parts, the data of the reference foot model are used to supplement the model. Then the corresponding point distance between the two models, the normal vector of the surface, the curvature of the mesh, the contour, the skeleton and a series of data information are set up, and the 3D point coordinates in the reconstructed point cloud are adjusted to further repair the reconstructed model. Finally, a complete three-dimensional foot mesh model. 3. 3. Based on the research results of this paper, a 3D foot data acquisition system based on mobile terminal is implemented. The system realizes the function of using mobile terminal with IMU sensor to obtain three-dimensional data of feet in static state. The accuracy of the reconstructed foot shape is measured by measuring the relevant parameters of the shape of the foot shape. Finally, the paper summarizes the existing work and prospects the follow-up work.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP391.41

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