Dynamic non-rigid body three-dimensional digital method fusing RGB-D camera and color photometric stereo method

Abstract

A dynamic non-rigid body three-dimensional digital method fusing RGB-D camera and color photometric stereo method employs an RGB tricolor light source to irradiate an object under test, and employs a depth camera and a color camera with internal parameters calibrated to photograph the object to acquire a depth image and a color image of the object; the method then estimates light source direction and reflectivity in conjunction with depth and color information; a cost function fusing a depth item, a normal item and a smooth constraint item is constructed by variational method, and an improved-quality surface three-dimensional digital model of the object under test is solved by least squares optimization. By using the method, it is possible to effectively solve the problem that an existing dynamic non-rigid body three-dimensional digital method has matching difficulty in non-rigid body objects in different inter-frame images, has great geometric error or has poor smoothness and poor detail fineness of reconstruction results due to noise impact; the method has the advantages of high efficiency, high precision and low cost, and is applicable to a three-dimensional digital task for a dynamic non-rigid object to provide efficient and convenient object three-dimensional reconstruction.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional digital reconstruction of objects, relates to the fields of photometric stereo theory, point cloud filtering and optimization calculation, and particularly relates to a dynamic non-rigid three-dimensional digital method integrating RGB-D camera and color photometric stereo method. Background technique [0002] In recent years, with the development of 3D related technologies, the 3D digitization technology of non-rigid bodies has received extensive attention in the industry. Achieving efficient, high-precision, and cheap reconstruction methods has always been a research focus in the field of 3D digitization. The existing non-rigid body dynamic reconstruction methods mainly include the following types. [0003] (1) Non-rigid Structure from Motion (N-SFM) method [0004] N-SFM decomposes the observation matrix of a set of video sequences by SVD to obtain the corresponding camera matrix an...

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Problems solved by technology

[0009] In order to overcome the above-mentioned shortcoming of the prior art, the object of the present invention is to provide a kind of dynamic non-rigid three-dimensional digitization method of fusion RGB-D camera and color photometric stereo method, use the combination of low-cost RGB-Depth camera and color light source, through Fusion of depth and color information can effectively solve the problems of existing dynamic non-rigid 3D digitization methods such as the matching of non-rigid objects in images between different frames, large geometric errors, or reconstruction results affected by noise, which are not smooth enough and the details are not fine enough. , has the characteristics of high efficiency, high precision and low cost, and can be applied to the 3D digitization task of dynamic non-rigid objects to achieve efficient and convenient 3D reconstruction results of objects

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