3D scene reconstruction based on the panoramic cameras system of the lunar rover

摘要

To reconstruct a 3D scene around the lunar rover from stereo image-pairs captured by the panoramic cameras, based on which an intuitive platform can be put up for scientists to plan exploration commands, we set about to study the 3D scene reconstruction. This paper mainly presents a scheme of registering local scene models to reconstruction a large scene When a few of local 3D scene models have been reconstructed respectively, we firstly find the common 3D point sets between every two adjacent local models based on edge detection and image matching, secondly fit the matrix of coordinate transformation employing the technique of separating rotation matrix and translate vector, and lastly register these local 3D models into a uniform coordinate system. In this scheme, we don't need to set a few of control points in a scene beforehand; and we determine the rotation matrix by a system of linear equations based on Cayley transformation. Experimental results of reconstructing indoor and outdoor scenes show that our scene registration method is feasible.