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Quick and robust RGB-D indoor three-dimensional scene reconstruction method

An RGB-D, three-dimensional scene technology, applied in the field of three-dimensional reconstruction, can solve the problem that the reconstruction efficiency of indoor three-dimensional scene cannot meet the demand, and achieves improved tracking robustness, reduced speed and model accuracy, good robustness and scalability. Effect

Active Publication Date: 2018-09-21
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology

[0008] In order to solve the above problems in the prior art, that is, in order to solve the problem that the efficiency of indoor 3D scene reconstruction cannot meet the demand, the present invention proposes a fast and robust RGB-D indoor 3D scene reconstruction method, which includes:

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  • Quick and robust RGB-D indoor three-dimensional scene reconstruction method
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  • Quick and robust RGB-D indoor three-dimensional scene reconstruction method

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Embodiment Construction

[0073] 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 principles of the present invention, and are not intended to limit the protection scope of the present invention.

[0074] The fast and robust RGB-D indoor three-dimensional scene reconstruction method of the embodiment of the present invention, such as figure 1 shown, including the following steps:

[0075] Use RGB-D camera to scan indoor scenes in real time;

[0076] Real-time camera tracking based on point-line fusion camera tracking algorithm;

[0077] The camera trajectory is reduced by detecting the camera state;

[0078] Using the reduced camera trajectory information, the RGB-D image is fused with multi-scale volume data to generate a complete 3D model of the scene.

[0079] According to the above method, the present invention can be divided int...

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Abstract

The invention relates to the field of three-dimensional reconstruction, in particular to a quick and robust RGB-D indoor three-dimensional scene reconstruction method, and aims to solve the problem that the indoor three-dimensional scene reconstruction efficiency cannot meet the demands. The method comprises the steps of scanning an indoor scene in real time by adopting an RGB-D camera; performingcamera real-time tracking based on a point line fusion camera tracking algorithm; performing reduction on camera tracks by detecting a camera state; and performing multi-scale voxel data fusion on anRGB-D image by utilizing reduced camera track information to generate a complete three-dimensional scene model. The complete indoor scene model can be obtained efficiently and accurately. A system has good robustness and expansibility.

Description

technical field [0001] The invention relates to the field of three-dimensional reconstruction, in particular to a fast and robust RGB-D indoor three-dimensional scene reconstruction method. Background technique [0002] 3D reconstruction of indoor scenes is one of the challenging research topics in computer vision, involving theories and technologies in computer vision, computer graphics, pattern recognition, optimization and other fields. There are many ways to achieve 3D reconstruction. The traditional method is to use laser, radar and other ranging sensors or structured light technology to obtain the structural information of the scene or object surface for 3D reconstruction. However, most of these instruments are expensive and not easy to carry, so the application occasions are limited. . With the development of computer vision technology, researchers began to study the use of pure vision methods for 3D reconstruction, and a lot of beneficial research work emerged. [...

Claims

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Application Information

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IPC IPC(8): G06T7/55
CPCG06T7/55G06T2207/10016G06T2207/10024G06T2207/10028
Inventor 李建伟李和平唐付林高伟吴毅红
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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