【摘要】：隨著國(guó)民經(jīng)濟(jì)迅速發(fā)展,大空間建筑日益增多，因其特殊性和復(fù)雜性，導(dǎo)致傳統(tǒng)的火源探測(cè)和滅火設(shè)施的功能很難施展。近年來，圖像型火災(zāi)探測(cè)技術(shù)已很好地應(yīng)用在大空間建筑消防中，智能消防炮滅火技術(shù)也得到一定的應(yīng)用，論文在研究傳統(tǒng)智能消防炮火源定位方法的基礎(chǔ)上，，針對(duì)其明顯滯后性的缺點(diǎn)，采用基于平行雙目立體視覺的火源定位方法，提高了火源定位的實(shí)時(shí)性和準(zhǔn)確性，具有重要的應(yīng)用價(jià)值。 論文采用平行雙目立體視覺和三維信息重建技術(shù)來確定大空間建筑火源的三維坐標(biāo)。首先，用張氏平面標(biāo)定法對(duì)攝像機(jī)內(nèi)部參數(shù)進(jìn)行定標(biāo)；其次，用SURF算法提取火焰圖像特征點(diǎn)，進(jìn)行快速灰度相關(guān)粗匹配，然后估計(jì)基礎(chǔ)矩陣以恢復(fù)對(duì)極幾何關(guān)系，再用SURF算法進(jìn)行特征點(diǎn)立體匹配。其中，為了提高定位的實(shí)時(shí)性和準(zhǔn)確度，在基礎(chǔ)矩陣估計(jì)時(shí)，采用了一種運(yùn)算速度較快、準(zhǔn)確度較高的先LMedS后M-Estimators的估計(jì)方法，即先用LMedS算法去除異常匹配點(diǎn)，再用M-Estimators算法去除定位噪聲；在保持SURF匹配算法優(yōu)點(diǎn)的基礎(chǔ)上，對(duì)其匹配搜索策略改進(jìn)，采用特征集分組，按組依次匹配的策略，提高了匹配的精度和時(shí)效性；最后，由攝像機(jī)內(nèi)部參數(shù)和基礎(chǔ)矩陣計(jì)算出本質(zhì)矩陣，對(duì)本質(zhì)矩陣進(jìn)行奇異值分解得到平行雙目攝像機(jī)相對(duì)位置的外部參數(shù)，再利用三維重建技術(shù)，來確定火源三維深度信息。 經(jīng)仿真實(shí)驗(yàn)證明，論文的定位方法不僅能保證火源定位的實(shí)時(shí)性要求，還可以提高火源定位的精確度，可以滿足大空間建筑火源空間定位的要求。
[Abstract]:With the rapid development of national economy, the large space building is increasing day by day, because of its particularity and complexity, the function of traditional fire source detection and fire extinguishing facilities is very difficult to carry out. In recent years, image fire detection technology has been well applied in large space building fire fighting, and intelligent fire extinguishing technology has also been applied to a certain extent. Aiming at its obvious lag, the fire source location method based on parallel binocular stereo vision is adopted, which improves the real-time and accuracy of fire source location, and has important application value. In this paper, parallel binocular stereo vision and three-dimensional information reconstruction technology are used to determine the three-dimensional coordinates of the fire source of large-space buildings. Firstly, the camera internal parameters are calibrated by Zhang's plane calibration method. Secondly, the feature points of flame images are extracted by SURF algorithm, and the coarse matching of fast gray correlation is carried out, then the basic matrix is estimated to restore the relations between polar geometry, and the stereo matching of feature points is carried out using SURF algorithm. In order to improve the real time and accuracy of localization, a fast and accurate estimation method of LMedS and M-Estimators is adopted in the estimation of basic matrix, that is, LMedS algorithm is used to remove the abnormal matching points. Then the M-Estimators algorithm is used to remove the location noise. On the basis of keeping the advantages of SURF matching algorithm, the matching search strategy is improved, and the matching accuracy and timeliness are improved by grouping feature sets and matching according to group sequence. Finally, the essential matrix is calculated from the camera internal parameters and the basic matrix, and the external parameters of the relative position of the parallel binocular camera are obtained by singular value decomposition of the essential matrix. The 3D depth information of the fire source is determined by using the three-dimensional reconstruction technique. The simulation results show that the method can not only meet the real-time requirements of fire source location, but also improve the accuracy of fire source location, and can meet the requirements of fire source location in large space buildings.
【學(xué)位授予單位】：西安建筑科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2013
【分類號(hào)】：TU892;TP391.41

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