Real-time three-dimensional reconstruction method and system for large-scale scene based on line-of-sight updating algorithm

A real-time three-dimensional, large-scale technology, applied in radio wave measurement systems, calculations, electromagnetic wave re-radiation, etc., can solve problems such as poor accuracy and robustness, inability to achieve real-time three-dimensional reconstruction, and insufficient use of sensors in each frame. Achieve the effect of improved quality, real-time high-quality reconstruction
CN107862733AActive Publication Date: 2018-03-30NANJING UNIV
5 Cites 9 Cited by

Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
NANJING UNIV
Publication Date
2018-03-30

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

The invention discloses a real-time three-dimensional reconstruction method and system for a large-scale scene based on a line-of-sight updating algorithm, and belongs to the field of computer visionand robots. The invention aims to solve a problem of providing a method in which a light of sight is generated according to the current three-dimensional point cloud, data updating is realized and thus real-time reconstruction is performed in allusion to a problem that general algorithms cannot realize real-time reconstruction for large-scale point cloud data of laser radar. The real-time three-dimensional reconstruction method mainly comprises the steps of acquiring three-dimensional point cloud, calculating external parameter data of a sensor, calculating a symbol distance value of an implicit surface based on a line-of-sight algorithm, performing weighted fusion on the symbol distance value, performing volume rendering on volume data, storing the volume data and displaying a reconstruction effect in real time. The implicit surface is updated in real time through introducing the line-of-sight updating algorithm, so that real-time reconstruction for a large-scale scene based on depthsensors such as radar is achieved. The real-time three-dimensional reconstruction method and system not only have great advantages in speed, but also acquire good effects in reconstruction quality.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The invention belongs to the field of computer vision and robots, and relates to a real-time three-dimensional reconstruction method and system for a large-scale scene based on a line-of-sight update algorithm. Background technique

[0002] Real-time 3D reconstruction refers to the process of processing 3D point cloud or image data in real time and generating a 3D model. 3D reconstruction plays a very important role in the fields of computer vision and robotics, and is the basis for applications such as virtual reality, intelligent monitoring, and robot path planning. Since lidar can collect hundreds of thousands of points per second, the amount of data is huge, and the collected data contains relatively large noise. It is very challenging to reconstruct a 3D model of a large-scale scene in real time.

[0003] 3D reconstruction is mainly divided into two categories: 3D reconstruction based on camera images and 3D reconstruction based on lidar. Image-...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More