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Scene reconstruction method, device, computer equipment and computer storage medium

A scene reconstruction and scene technology, applied in the field of image processing, can solve the problem of small space and achieve the effect of smooth path

Active Publication Date: 2020-05-12
SHENZHEN UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Based on this, it is necessary to provide a scene reconstruction method, device, computer equipment and computer storage medium for the problem that the space for scene reconstruction in the traditional technology is small

Method used

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  • Scene reconstruction method, device, computer equipment and computer storage medium
  • Scene reconstruction method, device, computer equipment and computer storage medium
  • Scene reconstruction method, device, computer equipment and computer storage medium

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Embodiment Construction

[0081] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0082] In this text, relational terms such as left and right, up and down, front and back, first and second are used merely to distinguish one entity or action from another without necessarily requiring or implying such Any actual such relationship or sequence between entities or actions. The terms "comprising", "comprising" or any other variant are intended to cover a non-exclusive inclusion whereby a process, method, article or apparatus comprising a set of elements includes not only those elements but also other elements not expressly listed elements, or elements inherent in such a process, ...

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Abstract

The present invention relates to a scene reconstruction method, device, computer equipment and computer storage medium. The method includes acquiring a captured depth image, and generating a current tensor field key frame according to the depth image; The tensor field key frame is interpolated in time and space to obtain the interpolated tensor field key frame; the robot planning path is obtained through the particle drift algorithm; the camera planning path is obtained according to the robot planning path and the energy equation of the camera; the robot walks along the robot planning path, and the camera follows the camera Depth images taken while planning path walking to reconstruct the scene. The above-mentioned scene reconstruction method, device, computer equipment and computer storage medium obtain the planned path of the camera through the planned path of the robot and the energy equation of the camera, thereby realizing the simultaneous exploration and reconstruction of complex scenes by the robot holding the camera .

Description

technical field [0001] The present invention relates to the field of image processing, in particular to a scene reconstruction method, device, computer equipment and computer storage medium. Background technique [0002] With the popularity of low-cost RGB-D cameras (Red-Green-Blue-Depth Camera) and the development of real-time reconstruction technology, the problem of automatic indoor scene reconstruction based on mobile robots has attracted the attention of the field of robotics and graphics. It is with the development of these technologies that we can explore and reconstruct larger and more complex scenes, and have a wide range of applications in many fields, such as virtual reality, games, movies, service robots, and autonomous driving. [0003] For scene reconstruction work in traditional technologies, only a single object is scanned, or a fixed camera is used for scene exploration, so that the spatial size of the scene that can be reconstructed is limited. Contents o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T17/00G06T19/00G06T7/593
CPCY10S901/01G06T7/50G06T2207/10028G06T2207/10024B25J9/1664B25J9/1697G05D1/0094G05D1/0246B25J19/023G05D2201/0207
Inventor 黄惠徐凯
Owner SHENZHEN UNIV
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