A method for 3D reconstruction of indoor scenes based on a single depth vision sensor

Abstract

The invention relates to a method for three-dimensional reconstruction of an indoor scene based on a single depth vision sensor, and its technical characteristics include the following steps: Step 1, using a single depth vision sensor to continuously scan the entire indoor scene; Step 2, removing the collected depth data Noise, hole repair and other preprocessing to obtain smooth depth data; step 3, according to the depth data collected in step 2, calculate the point cloud data corresponding to the current depth frame; step 4, the point cloud obtained from the depth frame of different perspectives Perform registration to obtain a complete point cloud of the indoor scene; step 5, perform plane fitting to realize the segmentation of the special point cloud, and establish an independent and complete 3D model of each object in the indoor scene. The scanning equipment used in the present invention is simple; the scanned data information is comprehensive and effectively improves the calculation efficiency of point cloud registration accuracy; finally, a complete high-quality three-dimensional model collection with geometric structure and color maps can be established for indoor scenes.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional reconstruction of indoor scenes, in particular to a method for three-dimensional reconstruction of indoor scenes based on a single depth vision sensor. Background technique [0002] Building a high-quality 3D model of an indoor scene, especially creating an independent 3D model for each object in the room is a very challenging task. At present, many 3D reconstruction methods for indoor scenes focus on reconstructing local models in indoor scenes, resulting in the method itself: easy to lose details of many indoor scenes, requiring cumbersome user interaction operations, and requiring large-scale reconstruction such as laser scanners. Disadvantages such as expensive hardware equipment. [0003] Commercial depth cameras can realize 3D model reconstruction of objects in the scene, but building a 3D model of an indoor scene is different from building a 3D model of a single object. Within th...

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Problems solved by technology

However, the early kinectfusion system uses a planar voxel grid, which can only be used in a small volume range; although the visual odometry algorithm can improve the accuracy of the kinectfusion system, it can only be used in a relatively narrow space and compared with the camera motion trajectory In simple cases, complex camera motion paths will affect the 3D model reconstruction effect of the entire indoor scene

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