利用與行車方向同向之雙眼攝影機建立街景建築物之3D方塊模型

Reconstruction of 3D Building Block Models by Using the Driving Direction based on Stereo Camera

黃冠銘(Guan-Ming Huang)

指導教授 ： 賴文能

國立中正大學/工學院/電機工程學系/碩士(2015年)

摘要

近年來由於衛星科技的進步，許多GPS技術亦迅速的發展及普及，使得每部車搭載導航系統。然而，大多數係以2D街道內容為主或者是在重要場景(如高架橋等)才會有3D繪圖式內容。這些重要場景主要是靠著人工的方式產生，除了較為費時，在觀看的品質上也較缺少真實性。為了讓使用者更有真實感，影像式的導航系統也慢成為了趨勢，影像式的重建技術是到實地拍攝形成。但影像式建立的導航系統，目前還是需要大量的人力，先建立好模型後，再貼上拍攝完的影像當作其紋理。

本文提出一個拍攝方向與行車方向相同的雙眼攝影機取像方法，以重建出街景建築物之3D長方塊模型，其中最主要的是求得長方塊模型之方位角以及其長、寬、高。首先，先對雙眼相機進行校正，包含內、外部參數和魚眼失真，其中，本系統係採用3D校正物來進行校正。然後，利用Hough Transform (HT) 求得影像中建築物平行線之消失點後可估算出建築物長方塊模型之方位角度。本系統利用天際線上的特徵點求得建築物3D長方塊模型的邊長。最後，再以粒子濾波器 (particle filter) 來修正所估測的3D點座標。

最後，我們透過虛擬實境之技術提供使用者瀏覽與導航3D 建築物之功能，讓使用者有身歷其境之感受。

關鍵字

三維模型 ； 雙眼立體視覺 ； 影像式建模

並列摘要

Because of advancing with satellite technology in recent years, a lot of GPS techniques are also such rapid development and popularity that every car set up the GPS. However, most of the contents are based on 2D street maps or 3D graphic only in some importance scenes like viaducts and so on. These scenes are produced based on manual mode, not only much time-consuming but the quality of watching also is less realness. In order to impress users more realness, the GPS on image based has come to be the most trends which we take the pictures at the real scenes using them in the reconstruction techniques on image based. But GPS on image based needs a lot of manpower now, it build the models first, and then map the texture of buildings on the models.

We propose a method which direction of shooting are the same as the driving direction with stereo camera. Using it reconstruct models of the 3D building cuboid and the most importance part is getting the orientation, length width, and height. First, we calibrate the stereo camera include intrinsic matrix, extrinsic matrix and fisheye distortion parameter. And then, after using Hough Transform to get the vanishing point of the buildings with parallel lines in the image, we can estimate the orientation of the cuboid models. We use the features on the skyline to get the lengths of the 3D cuboid models in our system. Finally, we use the particle filter to refine the 3d coordinates.

Finally, we provide users surfing and navigation the 3D Buildings through Virtual Reality techniques to impress users.

並列關鍵字

Reconstruction on Image-based ； 3D Modeling ； Stereo Vision

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