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Journal of Software:2016.27(10):2519-2529

基于Kinect v2的实时精确三维重建系统
李诗锐,李琪,李海洋,侯沛宏,曹伟国,王向东,李华
(中国科学院 计算技术研究所智能信息处理重点实验室, 北京 100190;中国科学院大学, 北京 100190;国家体育总局 体育科学研究所, 北京 100061)
Real-Time Accurate 3D Reconstruction Based on Kinect v2
LI Shi-Rui,LI Qi,LI Hai-Yang,HOU Pei-Hong,CAO Wei-Guo,WANG Xiang-Dong,LI Hua
(Key Laboratory of Intelligent Information Processing(Institute of Computing Technology, The Chinese Academy of Sciences, Beijing 100190, China;University of Chinese Academy of Sciences, Beijing 100190, China;China Institute of Sport Science, General Administration of Sport, Beijing 100061, China)
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Received:January 21, 2016    Revised:March 25, 2016
> 中文摘要: 快速、低成本、精确的三维扫描技术一直是计算机视觉领域研究的热点.首先,分析了新一代Kinect v2(Kinect for Windows v2 sensor)的技术参数、测量原理.设计实验测得其深度精度与测量距离呈线性变换关系.其次,Kinect v2深度数据含有大量的噪声,尤其是在物体边缘,常用的双边滤波器等去噪算法不能很好地去除这些噪声,对此设计了一种有效的去噪算法,以提高重建质量.最后,实现了一套基于新一代Kinect v2的重建系统.实验结果表明,该重建系统能够实时、精确地重建物体,可以广泛应用于低成本的快速三维成型.
中文关键词: ToF  Kinect  三维重建  点云去噪  点云配准
Abstract:Fast, low-cost, and accurate three-dimensional scanning technology is a hot research topic in computer vision. First, this paper introduces the technical parameters and measurement principle of the Kinect v2 (Kinect for windows v2 sensor) and analyzes the advantages and disadvantages of Kinect v2 comparing to the first generation Kinect (Kinect v1). Secondly, considering the characteristics of Kinect v2 depth data noise, it designes a denoising method for depth data, and applies this method to the 3D reconstruction system. Finally, it implementes a real-time accurate 3D reconstruction system based on Kinect v2. Experimental results show that the proposed 3D reconstruction system can acquire an accurate 3D object model in real-time.
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基金项目:国家自然科学基金(61227802,61379082);国家体育总局体育科学研究所合作项目(20145030);国家财政部基本科研业务费(基本14-02) 国家自然科学基金(61227802,61379082);国家体育总局体育科学研究所合作项目(20145030);国家财政部基本科研业务费(基本14-02)
Foundation items:National Natural Science Foundation of China (61227802, 61379082); Project Funded by China Institute of Sport Science (20145030); Basic Research Funding from Ministry of Finance of the People’s Republic of China (Basic 14-02)
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李诗锐,李琪,李海洋,侯沛宏,曹伟国,王向东,李华.基于Kinect v2的实时精确三维重建系统.软件学报,2016,27(10):2519-2529

LI Shi-Rui,LI Qi,LI Hai-Yang,HOU Pei-Hong,CAO Wei-Guo,WANG Xiang-Dong,LI Hua.Real-Time Accurate 3D Reconstruction Based on Kinect v2.Journal of Software,2016,27(10):2519-2529