Improved Template Matching Based Stereo Vision Sparse 3D Reconstruction Algorithm
作者单位：Dept.of Control Science and EngineeringHarbin Institute of Technology
会议名称：《第32届中国控制与决策会议》
会议日期：2020年
学科分类：08[工学] 080203[工学-机械设计及理论] 0802[工学-机械工程]
关 键 词：Stereo vision Keypoints Brute Force Template matching Sparse 3D reconstruction
摘 要：Stereo vision 3 D reconstruction using keypoints matching methods can bring up problems,such as uneven distribution of points,or even *** solve the problems,we proposed a novel stereo vision 3 D reconstruction algorithm based on template ***,considering that the similarity between left and right image of binocular camera can be high,template matching can be brought in to minify the searching range of every keypoint,thus enhance the accuracy of matches and make the reconstruction result more *** specific process of the proposed method includes the following steps:templates extraction,keypoint density index calculation,template matching,keypoint matching within template matched areas,point cloud generation,and point cloud ***,a simulation environment was built up in Gazebo,and 3 D reconstruction was carried out using the proposed *** experiment was carried out using brute force keypoint matching method and *** results showed that the proposed method performed better and improved in both utilization of keypoints and reconstruction result.