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Three-dimensional space map construction method based on Kinect vision technology

A three-dimensional space and map construction technology, applied in the field of three-dimensional space map construction based on Kinect vision technology, to achieve the effect of reducing cost and energy consumption, large amount of information, and improving efficiency

Inactive Publication Date: 2015-07-22
SHANGHAI OCEAN UNIV
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  • Three-dimensional space map construction method based on Kinect vision technology
  • Three-dimensional space map construction method based on Kinect vision technology
  • Three-dimensional space map construction method based on Kinect vision technology

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Embodiment 1

[0026] Please refer to figure 1 , figure 1 It is a flow chart of a 3D spatial map construction method based on Kinect vision technology invented. A method for constructing a three-dimensional space map based on Kinect vision technology, specifically comprising the following steps: step S1, obtaining the three-dimensional coordinates of each point in the field of view space based on the Kinect imaging technology of light coding, forming a single point cloud, and performing point cloud processing , to obtain point cloud data; among them, Kinect is a somatosensory peripheral with three cameras in total, the middle lens is an RGB color camera, and the left and right lenses are composed of an infrared emitter and an infrared CMOS camera. Among them, infrared rays can encode space, also known as Light coding technology, which uses light source lighting to code the space to be measured, which is essentially structured light technology. As long as such structured light is placed in ...

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Abstract

The invention relates to a three-dimensional space map construction method based on a Kinect vision technology. The three-dimensional space map construction method comprises the following steps: step S1, obtaining a three-dimensional coordinate of each point of a view field space based on a Kinect imaging technology of a light coding to form a single-width point cloud; carrying out point cloud processing to obtain point cloud data; step S2, unifying the point cloud data to the same coordinate system based on a point cloud alignment technology of an ICP algorithm; step S3, lifting a point cloud reading-writing speed and reducing a data storage space based on a point compression and visualization technology of Octree; and step S4, obtaining a disordered dispersed point cloud to form a model of a space object. The three-dimensional space map construction method has the advantages that the cost and the energy source consumption are greatly reduced; Kinect is provided with a RGB (Red, Green and Blue) colored camera so that a constructed map has more abundant color and texture information; the trouble of manually calibrating is avoided and the three-dimensional reconstruction efficiency is improved; the three-dimensional space map construction method can be applied to the fields of robot navigation, digital cities, three-dimensional measurement and the like.

Description

technical field [0001] The invention relates to the technical field of three-dimensional space construction, in particular to a three-dimensional space map construction method based on Kinect vision technology. Background technique [0002] Vision is a channel to obtain important information such as the shape, brightness, and color of external objects. Studies have shown that more than 80% of human external information is obtained through vision. In recent years, with the continuous development of computer vision technology, it can replace human eyes to complete the functions of target object recognition and tracking test. In particular, the study of three-dimensional space through computer vision technology has become a research hotspot. [0003] The content of 3D space research is very extensive, including the construction of urban environment models for the purpose of digital cities, the construction of buildings, cultural relics or artworks, the construction of large in...

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Application Information

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IPC IPC(8): G06T17/00
Inventor 张云孟婉婷杨弘儒苏培涛
Owner SHANGHAI OCEAN UNIV
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