Method, system and device for online tracking and dense reconstruction on mobile devices
A mobile device, dense technology, applied in the field of online tracking and dense reconstruction on mobile devices, systems and equipment, and can solve problems such as the inconsistency of camera pose estimation
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[0086] Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principle of the present invention, and are not intended to limit the protection scope of the present invention.
[0087] The present invention adopts a geometrically stable sampling method to select 3D point pairs that can provide sufficient constraints for ICP, making the camera tracking process more robust. In addition, the method of fusion of visual tracking results and IMU information is used, which can robustly track the camera pose and achieve dense 3D reconstruction, especially in scenes with few geometric features. The method has strong robustness and fast calculation speed, and the finally obtained 3D model is reasonable and reliable, and can realize online dense 3D reconstruction on mobile devices.
[0088] figure 1 It is a schematic flowchart ...
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