1results about How to "Avoiding Combinatorial Explosion Problems" patented technology

This invention discloses a pure vision-based 3D reconstruction and adaptive completion method in a collapse environment, belonging to the field of computer vision and emergency rescue 3D reconstruction technology. The method completes initial 3D reconstruction by acquiring data through binocular vision, constructs an anisotropic point cloud density distribution field to achieve accurate detection of low-density blind spots, establishes safe and reachable spatial constraints based on an implicit distance field, and optimizes the completion viewpoint by fusing an observability model. Map iteration is completed through local reconstruction and point cloud updates, and a closed-loop completion mechanism is formed using point cloud density as feedback until the reconstructed model meets the integrity requirements. This invention solves the problems of permanent voids in reconstruction caused by viewpoint blind spots, poor consistency between completion results and the real scene, and insufficient safety in the reconstruction process in existing technologies in collapse environments. It can achieve complete and high-precision autonomous reconstruction of 3D models of collapse disaster sites, providing reliable spatial data support for emergency rescue decision-making.