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Quick depth restoring method for three-dimensional reconstruction

A technology of depth restoration and three-dimensional reconstruction, which is applied in image data processing, instrumentation, calculation, etc., can solve the problems of large amount of calculation and long time consumption, and achieve the effect of fast recovery speed, simple calculation and high calculation efficiency

Active Publication Date: 2018-05-22
SUN YAT SEN UNIV
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Problems solved by technology

In general, the traditional depth restoration algorithm using stereo matching is computationally intensive and time-consuming

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  • Quick depth restoring method for three-dimensional reconstruction
  • Quick depth restoring method for three-dimensional reconstruction
  • Quick depth restoring method for three-dimensional reconstruction

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Embodiment Construction

[0028] The accompanying drawings are for illustrative purposes only, and should not be construed as limitations on this patent; in order to better illustrate this embodiment, certain components in the accompanying drawings will be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art It is understandable that some well-known structures and descriptions thereof may be omitted in the drawings. The positional relationship described in the drawings is for illustrative purposes only, and should not be construed as a limitation on this patent.

[0029] The flow chart of the inventive method is as figure 1 shown.

[0030] The method of the present invention calculates the feature points with depth values ​​through the SFM method based on the feature points. In order to better explain the accuracy and efficiency of restoration, on the basis of pure images, an inertial measurement unit is introduced, and the algorithm of the V...

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Abstract

The invention relates to the technical field of stereo vision in computer vision, and particularly to a depth restoring method for three-dimensional reconstruction. After depths of sparse characteristic points in an image are obtained through a structure from motion (SFM), depth is diffused based on the sparse characteristic points and a gray scale image through multilayer down-sampling and a double-side filter. An accurate depth map is quickly restored from low resolution to high resolution and from rough to fine in a layered manner. The method has advantages of accurate result and low calculating amount. The sparse characteristic points which are obtained through calculation in the system can be restored to the dense depth map by means of a simultaneous localization and mapping (SLAM) system based on a characteristic point method, thereby reconstructing the three-dimensional dense map.

Description

technical field [0001] The present invention relates to the technical field of stereo vision in computer vision, and more particularly, to a fast depth restoration method for three-dimensional reconstruction. Background technique [0002] The 3D reconstruction problem in computer vision needs to know the depth information of each pixel in the image, that is, it needs to know the dense depth map. Generally speaking, a dense depth map can be obtained by the following methods: one is to directly obtain the depth information of each pixel through an RGB-D camera; The depth information of the pixel; the third is that the monocular camera performs triangulation through motion and combined with the motion information to calculate the depth information of the pixel. The method based on RGB-D camera is easily affected by the light, has a range limit, and is not suitable for large outdoor scenes; the method based on stereo matching based on monocular or binocular (multi-eye) cameras ...

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Application Information

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IPC IPC(8): G06T7/50
CPCG06T7/50G06T2207/20016
Inventor 成慧郑卓祺何晋豪陈崇雨
Owner SUN YAT SEN UNIV
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