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
CN107610212BActive Publication Date: 2020-05-12SHENZHEN UNIV
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Patents(China)
Current Assignee / Owner
SHENZHEN UNIV
Publication Date
2020-05-12

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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 .
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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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