Simultaneous positioning and dense three-dimensional reconstruction method

A 3D reconstruction and dense technology, applied in 3D modeling, image data processing, instruments, etc., can solve problems such as time-consuming and limited operation

Active Publication Date: 2017-06-20
ZHEJIANG UNIV
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Problems solved by technology

However, BundleFusion saves all input data, limiting its operation on long sequence data
At the same t

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  • Simultaneous positioning and dense three-dimensional reconstruction method
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  • Simultaneous positioning and dense three-dimensional reconstruction method

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Embodiment Construction

[0087] The system architecture of the present invention is as figure 1 . The camera tracking part of the system and the 3D model reconstruction part run in parallel. For each input frame containing RGB images and depth maps, the camera tracking part firstly combines RGB-D alignment and homography-based feature tracking methods to calculate camera poses to achieve robust camera tracking. Meanwhile, ORB features of keyframes are extracted and matched to detect global loop closure. Finally, incremental BA is periodically run in the background to optimize the camera pose. The reconstruction part fuses the input depth to the depth map of the keyframe when the input frame tracks the camera pose reliably. In order to adjust the dense 3D surface online, the system will de-fuse and re-fuse the keyframes. This strategy makes it necessary to only re-fuse the depth of the keyframes and some additional point clouds when the camera pose is adjusted. Since the number of key frames is li...

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Abstract

The invention discloses a simultaneous positioning and dense three-dimensional reconstruction method, and the method can process quick motion and frequent closing of a loop in a robust manner, and can operate all the time in a larger-scale scene. The method not only can be used for scanning a high-quality three-dimensional model, but also can meet the demands of virtual reality and augmented reality. The method proposes a simultaneous positioning and map construction framework based on a key frame. At first, the method employs the depth and color information at the same time, and can operate on a CPU at a high speed based on the positioning of the key frame, and also can operate in a challenging scene in a robust manner. In order to reduce an accumulated error, the method introduces increment bundling adjustment, can greatly reduce the calculation amount, and enables the local and global bundling adjustment to be completed in a unified framework. Secondly, the invention proposes a fusion method based on the key frame, and the method can achieve the online generation of a model and updates the three-dimensional model in real time during the adjustment of the posture of the key frame.

Description

technical field [0001] The invention relates to a simultaneous positioning and dense three-dimensional reconstruction method applicable to the fields of augmented reality, virtual reality, robot navigation, etc., in particular to a simultaneous positioning and dense three-dimensional reconstruction method. Background technique [0002] Simultaneously Locating and Mapping (SLAM) is a fundamental problem in the field of robotics and computer vision. In the past few years, there have been many successful applications of real-time structure from motion (Structure from Motion) and visual SLAM. However, visual SLAM is difficult to deal with untextured scenes, and it is also difficult to restore dense 3D structures in real time and stably. Using a depth sensor can help with both issues. With the popularity of depth sensors (such as Microsoft Kinect and Intel RealSense 3D cameras), a large number of RGB-D based SLAM schemes have been proposed. [0003] Most dense SLAM methods use...

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Application Information

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IPC IPC(8): G06T17/05G06T7/73G06T7/33G06T7/55
CPCG06T17/05G06T2207/10028
Inventor 鲍虎军章国锋刘浩敏李晨
Owner ZHEJIANG UNIV
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