Recalage de séquences spatiales d’images en vue d’une évaluation dimensionnelle de surfaces libres
Registration of spatial image sequences for quantitative evaluation of free-form surfaces
OPEN ACCESS
This contribution describes an iterative registration method of spatial image sequences in view of accurate measurements and 3D reconstruction of free-form surfaces. Each image is represented by a set of 3D points characterizing the surface to be analyzed, gained with a technique based on the use of a structured light. The novelty of our registration method lies in interpolation of the imaged surfaces for the matching step and in the automated determination of the overlap region between two consecutive images of the sequence. The use of a statistical criterion enables to discard the matchings of bad quality. The actual displacement is computed using a least-squares technique based on unit quaternions and knowing a priori and approximately the displacement between two positions of the sensor. Processing the whole sequence enables to express the points of all images in a common reference frame. Results on both synthetic and real sequences assess efficiency and robustness of this registration procedure.
Résumé
Cette contribution décrit une méthode itérative de recalage de séquences spatiales d'images en vue d'une mesure 3D précise et d'une reconstruction de surfaces gauches quelconques. Chaque image est représentée par une collection de points 3D caractérisant la surface à analyser, obtenue par une technique de projection de lumière structurée. La nouveauté de notre méthode de recalage réside dans l'interpolation des surfaces imagées pour l'étape d'appariement et dans la détermination automatique de la zone de recouvrement entre deux images consécutives de la séquence. L'utilisation d'un critère statistique permet d'éliminer les appariements de mauvaise qualité. Le déplacement effectif est calculé par une technique de moindres carrés reposant sur les quaternions unitaires en connaissant a priori et approximativement le déplacement entre deux positions du système de prise de vues. Le traitement de la séquence complète permet d'exprimer les points de toutes les images dans un même référentiel. Des résultats expérimentaux sur des données synthétiques et réelles montrent que cette méthode de recalage est robuste et précise.
Computer vision, spatial image sequence, registration, 3D reconstruction, metrology
Mots clés
Vision par ordinateur, séquences spatiales d'images, recalage, reconstruction 3D, métrologie
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