Facet-based complex scene three-dimensional reconstruction method

Abstract

A facet-based complex scene three-dimensional reconstruction method is characterized by including: firstly, obtaining intrinsic and extrinsic parameters and distortion coefficients in a depth camera and a color camera by three-dimensional calibration; secondly, calculating three-dimensional information of a complex scene by the depth camera according to the principle of triangulation; thirdly, defining a point model as a facet, with each value as an attribute of the point model including the attributes such as normal vector and radius; fourthly, subjecting each facet to surface 'internal, external and intersection' relation test with another facet; fifthly, obtaining confidence neighborhood of the facets which are judged intersected, calculating boundaries of the most adjacent facets on the point model, and resampling the facets in the confidence neighborhood; sixthly, three-dimensionally drawing the complex scene according to results of Boolean operation in the step 5. The facet-based complex scene three-dimensional reconstruction method is highly timely and available for effectively extracting three-dimensional point cloud data of the complex scene.

Description

Technical field [0001] The invention relates to the field of computer vision, in particular to a three-dimensional reconstruction method of a complex scene. Background technique [0002] The techniques for surface reconstruction of objects or scenes are mainly divided into the following categories: traditional geometric modeling methods, 3D scanning equipment acquisition methods, and 3D reconstruction methods based on stereo vision. Traditional geometric modeling methods need to measure the size of objects, it is difficult to model irregularly curved objects, and the creation process is complicated, which requires high professional knowledge for modelers. Modeling software mainly includes AutoCAD and 3D-Max , Maya, OpenGL, etc. Three-dimensional scanning equipment is roughly divided into two types: contact type and non-contact type. The method of reconstructing objects is simple and accurate three-dimensional models can be obtained. However, these devices are very expensive. T...

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Problems solved by technology

[0006] In order to overcome the disadvantages of poor real-time performance and inability to effectively extract 3D point cloud data of complex scenes in the existing bin-based scene modeling method, the present invention proposes a bin-based scene modeling method, which The method uses the depth camera to quickly obtain the 3D information of the scene, which has the advantages of good scene reconstruction effect and strong real-time performance, and can effectively extract the 3D point cloud data of complex scenes

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