Three-dimensional scene reconstruction method and device based on vision SLAM

A 3D scene and vision technology, applied in 3D modeling, character and pattern recognition, image data processing, etc., can solve the problems of high hardware requirements, poor 3D scene accuracy, and high computational complexity, and achieve high running speed and high precision. Effect

Inactive Publication Date: 2018-08-24
COMMUNICATION UNIVERSITY OF CHINA
View PDF6 Cites 20 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the high computational complexity of the ICP algorithm, the ICP algorithm accelerated by GPU has high requirements for hardware, which restricts its application range
[0003] However, the 3D scene reconstruction method based on visual SLAM in the prior a

Method used

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
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Three-dimensional scene reconstruction method and device based on vision SLAM
  • Three-dimensional scene reconstruction method and device based on vision SLAM

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0020] The present invention will be described in further detail below with reference to the accompanying drawings, so as to make the present invention clearer and easier to understand. Those skilled in the art would recognize that the described embodiments can be modified in various ways or combinations thereof without departing from the spirit and scope of the invention. Accordingly, the drawings and description are illustrative in nature and not intended to limit the scope of the claims. Also, in this specification, the drawings are not drawn to scale, and like reference numerals denote like parts.

[0021] refer to figure 1 , the invention discloses a three-dimensional scene reconstruction method based on visual SLAM, comprising the following steps:

[0022] Step S1: Acquisition of visual information: make the mobile robot move freely in the 3D scene to collect images, and use the SLAM algorithm to estimate the pose information of the mobile robot;

[0023] Step S2: Poi...

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

PUM

No PUM Login to view more

Abstract

The present invention discloses a three-dimensional scene reconstruction method and device based on vision SLAM. The method comprises the following steps of: vision information obtaining: allowing a mobile robot to freely move in a three-dimensional scene to collect images, and employing an SLAM algorithm to estimate pose information of the mobile robot; point cloud reconstruction: employing an SIFT algorithm to extract feature points in the collected images for matching, employing the SFM algorithm to perform sparse point cloud reconstruction of the matched feature points and the corresponding mobile robot pose information, and performing dense point cloud reconstruction of the reconstructed sparse point cloud; and surface reconstruction: performing surface reconstruction of the reconstructed dense point cloud to complete reconstruction of the three-dimensional scene. The three-dimensional scene reconstruction method and device are high in operation speed, low in requirement for hardware and good in scale invariance. Besides, the three-dimensional scene reconstruction method and device further reconstruct object surface information so as to improve the precision of the reconstructed three-dimensional scene.

Description

technical field [0001] The present invention relates to the technical field of 3D scene reconstruction, in particular to a visual SLAM-based 3D scene reconstruction method and device. Background technique [0002] Computer vision has become a major topic in the field of robotics, and real-time localization and mapping (SLAM) methods have attracted a large number of researchers in the past decade. In terms of research on the monocular vision SLAM system based on the camera sensor device Kinect, Nikolas et al. used Kinect to implement a real-time SLAM system and integrated the system into a read-only memory (ROS). Henry et al. used Kinect to implement an interactive real-time 3D reconstruction system, that is, depth image mapping (RGB-D Mapping). The system selects different key frames for closest point iterative algorithm (ICP) registration according to user needs. , the reconstructed point cloud can well match the top view of the building, but the actual running speed of th...

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

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G06T17/00G06K9/46G06K9/62
CPCG06T17/00G06V10/462G06F18/22
Inventor 叶龙王孟迪钟微方力张勤
Owner COMMUNICATION UNIVERSITY OF CHINA
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap