Monocular real-time three-dimensional reconstruction method based on loop testing

A real-time 3D, loopback test technology, applied in the field of 3D reconstruction, can solve problems such as reconstruction model errors, and achieve the effect of good accuracy and high pose accuracy

Inactive Publication Date: 2018-08-03
CHONGQING UNIV OF POSTS & TELECOMM
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Problems solved by technology

[0004] In view of this, the purpose of the present invention is to provide a monocular real-time 3D reconstruction method based on loopback testing, which can well eliminate the cumulative error in the reconstruction process, thereby solving the problem of errors in the reconstruction model

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  • Monocular real-time three-dimensional reconstruction method based on loop testing
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  • Monocular real-time three-dimensional reconstruction method based on loop testing

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Embodiment Construction

[0037] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0038] The present invention provides a monocular real-time three-dimensional reconstruction method based on loopback testing. Based on feature point matching and computer vision theory, firstly, pairwise matching is performed based on image sequences to obtain matching pairs. Then restore the initial pose according to the matching calculation essential matrix. Use the initial pose or the pose of the previous frame to obtain the pose by tracking the pose model, and judge whether the current frame is a key frame; then use the random fern algorithm to calculate the similarity between the current frame and the key frame, and judge whether a loop is formed; if A loop is formed, and the current frame pose is updated by using the key frame pose; the 3D point cloud is obtained by using the pose and pose, and integrated into the TSDF global model; ...

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Abstract

The invention relates to a monocular real-time three-dimensional reconstruction method based on loop testing, and belongs to the technical field of three-dimensional reconstruction. The method comprises: carrying out pairwise matching in an image sequence of a specified scene on the basis of an image feature point matching theory to obtain image matching point pairs; solving an essential matrix, and then utilizing a singular-value decomposition theory to acquire an initial pose; utilizing the initial pose or a previous-frame pose to obtain an estimated pose through a pose tracking model; judging whether a current frame is a key frame; then utilizing a random fern algorithm to calculate similarity of the current frame and the key frame, and if the similarity reaches a threshold value, it isconsidered that a loop is formed; utilizing a pose of the key frame to optimize the current pose if the loop is formed; utilizing the above-obtained pose to obtain a point cloud, and fusing the sameinto a TSDF global-model; and adopting a light ray projection algorithm to visualize a surface. According to the method, accuracy of the acquired pose is enabled to be high, the cumulative-error problem in three-dimensional-reconstruction processes is eliminated, and a real-time reconstruction result has higher accuracy.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional reconstruction, and relates to a monocular real-time three-dimensional reconstruction method based on a loopback test. Background technique [0002] In computer vision, 3D reconstruction has always been a research hotspot. The so-called 3D reconstruction refers to the process of obtaining scene information through cameras, sensors and other equipment, using the knowledge of computer vision to deduce the 3D information of the actual object, so as to construct the 3D model of the object. With the gradual development of society and science and technology, 3D reconstruction is gradually known to people, and its application is more extensive. It plays a pivotal role in industrial manufacturing, cultural relic protection, mobile robot navigation, and other fields. [0003] Among them, with the popularity of depth cameras, real-time 3D reconstruction has developed rapidly. However, in the rea...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/00G06T7/90G06T7/50
CPCG06T17/00G06T2207/10028G06T7/50G06T7/90
Inventor 秦红星王雪怡
Owner CHONGQING UNIV OF POSTS & TELECOMM
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