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A Real-time 3D Reconstruction Method Complementary to Coupling Inertial Positioning and Point Cloud Registration

A technology of inertial positioning and point cloud registration, applied in 3D modeling, image analysis, image enhancement and other directions, it can solve the problems of divergence of estimated results, deviation of estimated results from actual results, and loss of constraint effect of inertial positioning data.

Active Publication Date: 2019-03-05
杭州深瞳科技有限公司
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Problems solved by technology

Adopting such a method will lead to serious divergence in the estimation results of the position and attitude of the RGB-D sensor as the three-dimensional reconstruction process proceeds, causing a large deviation between the estimation results and the actual results, and then causing the inertial positioning data to be lost. Constraints on Point Cloud Registration Computation

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  • A Real-time 3D Reconstruction Method Complementary to Coupling Inertial Positioning and Point Cloud Registration
  • A Real-time 3D Reconstruction Method Complementary to Coupling Inertial Positioning and Point Cloud Registration
  • A Real-time 3D Reconstruction Method Complementary to Coupling Inertial Positioning and Point Cloud Registration

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[0093] In order to describe the present invention more specifically, the technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0094] Such as figure 1 As shown, the specific steps of the real-time three-dimensional reconstruction method of the present invention coupled with inertial positioning and point cloud registration are as follows:

[0095] (1) The inertial unit composed of gyroscope and accumulator acquires the camera acceleration a at the initial moment ini =(a x,ini a y,ini a z,ini ) T , quaternion q ini =(q 0,ini q 1,ini q 2,ini q 3,ini ) T ; The RGB-D sensor obtains the point cloud data at the initial moment;

[0096] The point cloud data is processed, and the point cloud data is transformed into truncated signed distance field (TSDF) data through the voxel grid-based sampling method. The schematic diagram of the method is as follows figure 2 Shown: ...

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Abstract

The invention discloses a real-time three-dimensional reconstruction method with inertial positioning and point cloud registration coupling complementation. The method includes a process of performing rough registration and fine registration on acquired target three-dimensional point cloud data, performs coupling complementation on the target three-dimensional point cloud data and auxiliary inertial positioning information acquired by an inertial sensor, precisely registered target three-dimensional point cloud data is given, and a three-dimensional reconstruction process is completed. The method provided by the invention can effectively suppress divergence of inertial positioning, improves the efficiency of three-dimensional point cloud data registration, reduces the operation in a registration process, and enables the three-dimensional reconstruction process to achieve relatively high real-time performance and accuracy.

Description

technical field [0001] The invention relates to three-dimensional point cloud data reconstruction, in particular to a real-time three-dimensional reconstruction method in which inertial positioning and point cloud registration are coupled and complementary. Background technique [0002] The emergence of 3D scanning and 3D reconstruction technology provides possibilities for a series of research and practical applications such as computer graphics, machine vision, industrial design, medical diagnosis, virtual reality, augmented reality, and reverse engineering. The core of the content in this related field is how to efficiently and accurately register the data obtained by 3D scanning technology. [0003] The so-called 3D point cloud data registration refers to finding out the actual spatial relationship between different point clouds obtained from different positions and angles of the same object. Generally, the mainstream registration method uses the process from coarse reg...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/33G06T7/35G06T17/00
CPCG06T17/00G06T2207/10028G06T2207/20016
Inventor 吴珂方晓健
Owner 杭州深瞳科技有限公司
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