A 3D Voxel Access Method Based on Octree Forest Compression

A technology of three-dimensional voxel and access method, which is applied in the field of three-dimensional voxel access based on octree forest compression, which can solve the problems of limited application, large storage space, occupation, etc., and achieve efficient and fast reading and fast search speed , the effect of small depth

Active Publication Date: 2017-05-24
ZHEJIANG UNIV
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AI Technical Summary

Problems solved by technology

[0004] Due to the large number of voxels and the equal division method adopted, the voxel data in the KinectFusion algorithm needs to occupy a large storage space, which limits its application on different platforms.

Method used

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  • A 3D Voxel Access Method Based on Octree Forest Compression
  • A 3D Voxel Access Method Based on Octree Forest Compression
  • A 3D Voxel Access Method Based on Octree Forest Compression

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Embodiment Construction

[0040] In order to describe the present invention in more detail, the technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] In this embodiment, a 3m×3m×3m volume space will be compressed in combination with the accompanying drawings.

[0042] Such as figure 1 As shown, first the entire volume space is roughly evenly divided into 30×30×30 small cubes, each cube is 0.1m in size, and then an octree is constructed in each small area, so that all the volume in the volume space The octree constitutes an octree forest. Each octree corresponds to a cube area in the physical space, and each tree has a tree label to mark whether the tree is a non-empty tree.

[0043] The specific forest construction and growth methods are as follows:

[0044] When a depth image and its corresponding camera parameters are given, it can be judged whether each node of each tree needs to grow and subdivide accord...

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Abstract

The invention discloses an octree forest compression based three-dimensional voxel access method. The method comprises the steps of (1) uniformly dividing a voxel space according to the thickness, and creating an octree in each area; (2) performing dynamic construction and growth update for an octree forest according to each frame depth map and camera parameters; (3) quickly searching leaf data by the layered search method according to the constructed forest structure. According to the method, the octree forest sturctuer is utilized to effectively compress the consumption of a storage resource of space voxel data, and meanwhile, the data searching speed and the surface reconstruction precision can be ensured.

Description

Technical field [0001] The invention belongs to the technical field of three-dimensional reconstruction, and specifically relates to a three-dimensional voxel access method based on octree forest compression. Background technique [0002] Three-dimensional reconstruction is a computer technology that uses two-dimensional projection to restore three-dimensional information (shape, etc.) of an object. Traditional 3D surface reconstruction uses cameras to shoot objects from different perspectives, extracts basic features such as corners, edges, textures, lines, and boundaries in the image, and restores the approximate outline of the object according to the perspective relationship. With the development of depth measurement equipment in recent years, people have begun to use laser measuring instruments, ToF (time-light) depth cameras and structured light depth cameras to perform more accurate and dense surface reconstruction. With the rapid development of computer software and hardw...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T17/00
CPCG06T17/005
Inventor 李佳宁王梁昊李东晓张明
Owner ZHEJIANG UNIV
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