基于多Kinect的旋转人体扫描系统研究-中国测试.PDF

第44卷第2期 中国测试 Vol.44 No.2 2018年2月 CHINA MEASUREMENT TEST February袁2018 doi院10.11857/j.issn.1674-5124.2018.02.015 基于多Kinect的旋转人体扫描系统研究 孟繁昌袁 梁 晋袁 张桁维袁 徐劲澜袁 赵鹏亮 渊西安交通大学机械工程学院 机械制造系统工程国家重点实验室袁陕西 西安 710049冤 摘 要院为解决目前人体扫描系统价格昂贵尧操作复杂尧占用面积大等问题袁基于微软推出的Kinect相机具有快速尧安 全尧经济的特点袁提出利用3个Kinect相机和一个旋转台来构建三维人体扫描系统袁研究该系统涉及的深度相机成像 原理尧多相机标定以及点云配准等技术遥 首先利用KinectFusion技术重建出单个传感器的三维点云袁然后采用多相机 标定技术袁计算各传感器之间的相对位置关系袁实现点云的初始拼接袁并使用ICP算法实现点云的精确配准袁从而重 建出完整的三维人体点云模型遥 实验结果表明袁该方法能够重建出高精度点云袁并且该人体扫描设备成本低袁占地面 积小袁可行性与实时性强遥 关键词院三维人体重建曰Kinect传感器曰多相机标定曰ICP算法 文献标志码院A 文章编号院1674-5124渊2018冤02-0072-06 Study on the rotary human body scanning system based on multiple Kinects MENG Fanchang袁 LIANG Jin袁 ZHANG Hengwei袁 XU Jinlan袁 ZHAO Pengliang 渊State Key Laboratory for Manufacturing Systems Engineering袁School of Mechanical Engineering袁 Xi爷an Jiaotong University袁Xi爷an 710049袁China冤 Abstract: In order to solve the problems such as high price袁 complex operation and large occupation area of current human body scanning system袁 with the Kinect camera introduced by microsoft with the rapid袁 safe and economical characteristics袁 a 3D human body scanning system using three Kinect cameras and a rotating platform is proposed. The principle of imaging of the depth camera袁 multi camera calibration technique and the method of the point cloud registration involved in the system are studied. Firstly袁 KinectFusion technology is used to reconstruct the 3D point cloud of single sensor袁 and then the relative position parameters between the sensors are calculated with the method of multi camera calibration to realize the initial registration of point