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Three-dimensional reconstruction method and apparatus

A 3D reconstruction and 3D point technology, applied in the field of 3D reconstruction, can solve the problems of large storage space of 3D point cloud, affect the processing efficiency of 3D reconstruction, and take a long time, so as to reduce memory overhead, avoid space transformation operations, and reduce movement. effect of operation

Active Publication Date: 2017-10-03
HUAWEI TECH CO LTD +1
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Problems solved by technology

However, the 3D point cloud often needs to occupy a large storage space, and the movement operation of the 3D point cloud takes a long time to process, which greatly affects the processing efficiency of 3D reconstruction.

Method used

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  • Three-dimensional reconstruction method and apparatus
  • Three-dimensional reconstruction method and apparatus
  • Three-dimensional reconstruction method and apparatus

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Embodiment Construction

[0062] The technical solution in this application will be described below with reference to the accompanying drawings.

[0063] It should be understood that, in the embodiment of the present invention, the apparatus for three-dimensional reconstruction may be a processor, for example, may be a central processing unit (central processing unit, CPU), and the processor may be configured in a terminal device. Optionally, the terminal device further includes a memory for providing computing space and storage space. Optionally, the terminal device is further equipped with an RGBD camera. For example, the RGBD camera may be configured in the terminal device, or externally connected to the terminal device through a connection line such as a data cable.

[0064] Hereinafter, for convenience of description, the embodiment of the present invention is described by using a terminal device as an execution subject of the method, and the terminal device may be configured with at least a proce...

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Abstract

The invention provides a three-dimensional reconstruction method and apparatus. The method comprises the steps of obtaining first three-dimensional point cloud corresponding to a first image and second three-dimensional point cloud corresponding to a second image, wherein the first image is formed in a first coordinate system, and the second image is formed in a second coordinate system; performing first projective transformation on the first three-dimensional point cloud to obtain a first index map, wherein each coordinate point in the first index map corresponds to a three-dimensional point in the first three-dimensional point cloud, and indicates an index of the corresponding three-dimensional point in the first three-dimensional point cloud; performing projective transformation on the second three-dimensional point cloud to obtain a second index map, wherein each coordinate point in the second index map corresponds to a three-dimensional point in the second three-dimensional point cloud, and indicates an index of the corresponding three-dimensional point in the second three-dimensional point cloud; and determining at least one target point from the first index map and the second index map, and performing fusion processing on the first three-dimensional point and the second three-dimensional point indicated by the at least one target point.

Description

technical field [0001] The present application relates to the field of image processing, and more specifically, to a method and device for three-dimensional reconstruction. Background technique [0002] With the rise of color and depth (red green blue and depth, RGBD) cameras, it is possible to obtain a 3D reconstruction of a scene using color images and depth images. Currently, a 3D reconstruction method is known, which can make full use of the depth information in the RGBD sensor to perform 3D reconstruction. Specifically, before performing image processing, it is first necessary to obtain a two-dimensional image (that is, a photograph obtained) of a three-dimensional object (that is, the object to be photographed), and it can be understood that there may be multiple two-dimensional images corresponding to the three-dimensional model. Then, according to the pixel point coordinates and depth coordinates of each pixel in the 2D image, the 3D space coordinates (ie, 3D point ...

Claims

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Application Information

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IPC IPC(8): G06T7/55G06T17/00
CPCG06T7/55G06T17/00G06T2207/10028
Inventor 刘畅高伟
Owner HUAWEI TECH CO LTD
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