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
View PDF11 Cites 26 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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 reco

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

Examples

Experimental program
Comparison scheme
Effect test

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...

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 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

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): 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
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