Method for rebuilding three-dimensional scene of downhole environment

A 3D scene and environment technology, which is applied in the field of reconstruction of large-scale underground scenes, can solve problems such as the inability to meet the needs of 3D scene reconstruction, and achieve the effect of economical 3D scene reconstruction

Inactive Publication Date: 2013-12-18
HUAZHONG UNIV OF SCI & TECH
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Problems solved by technology

At present, the research on 3D reconstruction using Kinect has achieved some research results in the 3D reconstr

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  • Method for rebuilding three-dimensional scene of downhole environment
  • Method for rebuilding three-dimensional scene of downhole environment
  • Method for rebuilding three-dimensional scene of downhole environment

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Embodiment Construction

[0017] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0018] see figure 1 , in this embodiment, the method for reconstructing a three-dimensional scene of an underground environment includes the following steps:

[0019] S1. Calibrate the infrared camera in the Kinect, and determine the internal parameters of the camera.

[0020] In the image measurement process and machine vision applications, in order to determine the relationship between the three-dimensional geometric position of a point on the surface of a space object and its corresponding point in the image, it is necessary to establish a geometric model of camera imaging. These geometric mode...

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Abstract

The invention provides a method for rebuilding a three-dimensional scene of a downhole environment. The method includes the steps that S1, a depth camera is calibrated to determine internal parameters of the camera; S2, bilinearity filtering is carried out on the depth of a current frame to reduce noise interference; S3, a depth image of the current frame is mapped to a three-dimensional coordinate system of the depth camera; S4, primary registering is carried out through an ICP matching algorithm to obtain a transformation matrix between the depth image of the current frame and a depth image of a previous frame of the depth camera, and the depth image of the current frame can be converted to a global coordinate system through accumulation of the transformation matrixs; S5, the scene is rebuilt through a volume space fusion algorithm. According to the technical scheme, the three-dimensional scene of the downhole environment can be rebuilt economically and rapidly.

Description

technical field [0001] The invention relates to a three-dimensional image processing technology, in particular to a reconstruction method of a large-scale underground scene. Background technique [0002] The use of 3D scene reconstruction technology to create a 3D virtual scene of mine roadway has important practical value for improving coal safety production and miner safety. Traditional 3D reconstruction methods can be divided into two categories according to different ways of obtaining 3D data: 3D reconstruction methods based on laser scanning technology and 3D reconstruction methods based on vision. The laser-based three-dimensional reconstruction method obtains the depth data or distance image of the scene through a laser scanner, and uses the registration of the depth data to realize the alignment of single-frame data and global data; the vision-based three-dimensional reconstruction method uses computer vision methods Three-dimensional model reconstruction refers to ...

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Application Information

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IPC IPC(8): G06T17/00G06T7/00
Inventor 岳东杨彪万松
Owner HUAZHONG UNIV OF SCI & TECH
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