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Depth image autoegistration method combined with texture information

A technology of depth images and texture images, applied in the field of 3D model reconstruction of cultural relics in digital museums, can solve the problem of difficult to ensure the overlapping area between depth image sequence data and so on.

Inactive Publication Date: 2009-03-18
BEIHANG UNIV
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Problems solved by technology

[0009] However, the strip-oriented scanning and registration strategy proposed by Pingi is too idealistic, and it is difficult to ensure that there are overlapping areas between any adjacent data in the depth image sequence.

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  • Depth image autoegistration method combined with texture information
  • Depth image autoegistration method combined with texture information
  • Depth image autoegistration method combined with texture information

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Embodiment Construction

[0055] Such as figure 1 As shown, the present invention includes the registration of two scan data and the registration process of multiple scan data, specifically as follows:

[0056] 1. Extract or generate texture images from scan data.

[0057] Let P and Q be the scan data to be registered, and the texture image and depth image of P are I p and R p , the texture image and depth image of Q are I q and R q . If P and Q already contain texture images, they are directly extracted and converted into grayscale images as I p and I q , if P and Q do not contain a texture image or if the included texture image cannot be registered, first generate a texture image based on the depth image.

[0058] Given a depth image R, then Let Γ be a geometric feature descriptor, ∀ v ∈ R 3 , Γ(v) represents the eigenvalue at v, and can linearly transform the eigenvalues ​​of all vertices so that their val...

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Abstract

A depth image automatic registration process combining with texture information is mainly used to reconstruct the three-dimensional model of various actual objects, which comprises the steps: firstly extracting a texture image from scanning data or generating a texture image according a depth image, secondly extracting interest pixels in the texture image based on the characteristics of SIFT, and finding out candidate sets therein matched with the interest pixels through the crosscheck method, thirdly finding out correct matched pixel pairs in the candidate sets according to geometry information constraint, fourthly finding out matched apex pairs corresponding to the matched pixel pairs in a three-dimensional space, and calculating the rigid replacement matrix between two depth images, fifthly optimizing the result through using the improved ICP algorism, sixthly dividing the input sequences of several depth images into a plurality of bar type subsequences based on the registrations of two depth images, finally combining the subsequences through the strategy of forward searching, and constructing an integral three-dimensional model. The invention can fast register large-scale three-dimensional scanning data to generate a three-dimensional model, and has strong anti-noise capability and excellent universality.

Description

technical field [0001] The invention relates to a method for automatically reconstructing a three-dimensional model of an object based on three-dimensional scanning data, in particular a method for automatic registration of depth images combined with texture information, which belongs to the technical fields of computer virtual reality and computer graphics, and is mainly applied to various real objects Reconstruction of 3D realistic models, especially for 3D model reconstruction of cultural relics in digital museums. Background technique [0002] Reconstructing the 3D model of objects in the real world is more and more widely used in virtual simulation, computer animation, reverse engineering, computer-aided design, and digital museums. With the continuous development of 3D scanning equipment, reconstructing the model of the real object based on the data collected by the 3D scanning equipment has gradually become a popular 3D modeling method. The mainstream 3D scanners can...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/00G06T17/00
Inventor 齐越赵沁平杨棽沈旭昆
Owner BEIHANG UNIV
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