Method and device for geometrical reconstruction of object

A technique of geometry and objects, applied in the field of geometric reconstruction of objects, which can solve problems such as obstacles to processing, differences, etc.

Inactive Publication Date: 2018-02-09
FUJITSU LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Better color mapping results can be obtained using the corrected camera pose, but there is a discrepancy between the corresponding camera poses of the depth image and the color image, which hinders subsequent processing

Method used

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  • Method and device for geometrical reconstruction of object
  • Method and device for geometrical reconstruction of object
  • Method and device for geometrical reconstruction of object

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Embodiment Construction

[0014] Exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the interest of clarity and conciseness, not all features of an actual implementation are described in this specification. It should be understood, however, that in developing any such practical implementation, many implementation-specific decisions must be made in order to achieve the developer's specific goals, such as meeting those system- and business-related constraints and those Restrictions may vary from implementation to implementation. Moreover, it should also be understood that development work, while potentially complex and time-consuming, would at least be a routine undertaking for those skilled in the art having the benefit of this disclosure.

[0015] Here, it should also be noted that, in order to avoid obscuring the present invention due to unnecessary details, only the device structure and / or processing steps closely related ...

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Abstract

The present invention discloses a method and a device for geometrical reconstruction of an object. The method comprises the steps that: estimating a camera attitude according to a depth map and a corresponding color map; obtaining TSDF (Truncated Signed Distance Function) values of voxels in a three-dimensional space according to the depth map based on the camera attitude; and performing geometrical reconstruction of an object according to the TSDF values, wherein an optimization problem is solved to estimate the camera attitude according to the depth map and the corresponding color map, and acost function is related to the following factors: a quadratic sum of distances of three-dimensional points of a current frame regulated through the camera attitude to be estimated in a camera coordinate space and corresponding three-dimensional points of all the previous frames in a global coordinate space, a quadratic sum of distance measures of colors, on a corresponding color map of the current frame, of the three-dimensional points of all the previous frames, regulated through the camera attitude to be estimated, in the global coordinate space and corresponding colors of all the previousframes in the global coordinate space, and non-rigid transformation of pixel positions of the three-dimensional points in the depth map or the color map.

Description

technical field [0001] The present invention relates generally to the field of image processing. In particular, the invention relates to a method and a device capable of geometrically reconstructing an object. Background technique [0002] Nowadays, digitized three-dimensional objects have been widely used in many fields of people's daily life, such as augmented reality, digital museum, three-dimensional printing and so on. In recent years, portable depth cameras such as Kinect have appeared, which can conveniently collect depth images and color images from different positions and directions. With the popularization of such devices, people can construct digital three-dimensional objects more conveniently. [0003] The digitization process of 3D objects is roughly divided into two steps: geometric reconstruction and color mapping. Generally speaking, the geometric information of a 3D object is obtained based on the depth image, the key point of which is to estimate the cam...

Claims

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Application Information

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IPC IPC(8): G06T7/00G06T17/00
CPCG06T7/00G06T17/00
Inventor 李斐杜云凡刘汝杰
Owner FUJITSU LTD
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