Real-time 3D reconstruction method based on depth map

Abstract

The invention discloses a real-time 3D reconstruction method based on a depth map. The method comprises steps that depth maps and an RGB color map of a shooting scene are obtained through utilizing adepth camera; each frame of the depth maps is processed as follows, the depth information is complemented, pixel points are then converted into a first type of three-dimensional coordinate points, anda normal vector of each pixel point is calculated; the first type of three-dimensional coordinate points corresponding to the depth map are converted into a second type of three-dimensional coordinate points; each of the second type of three-dimensional coordinate points corresponding to the depth map is assigned a voxel block, and a hash table is utilized to index the voxel blocks; an sdf valueof each voxel in the voxel blocks is updated through weighted fusion of the voxel blocks, and the scene surface is extracted; the texture information of the scene surface is obtained, and a surface normal vector of each voxel of the scene surface is calculated. The method is advantaged in that the reconstruction speed and reconstruction quality can be effectively improved, and the method is applicable to large-scale scene reconstruction.

Description

technical field [0001] The invention belongs to the technical field of computer vision, and more specifically relates to a real-time three-dimensional reconstruction method based on a depth map. Background technique [0002] 3D reconstruction technology has always been a hot topic in the field of computer graphics and computer vision. Early 3D reconstruction technologies usually used 2D images as input to reconstruct a 3D model in the scene. Limited by the input data, the reconstructed 3D model was usually incomplete and less realistic. In recent years, with the emergence of various depth cameras for ordinary consumers, the 3D reconstruction technology based on depth cameras has developed rapidly. Depth cameras are inexpensive, modest in size, easy to operate, and easy for researchers and engineers to develop. Recent work has focused on using this consumer depth camera for real-time surface reconstruction. 3D reconstruction technology is also the basis of augmented reality...

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Problems solved by technology

[0004] In view of the defects and improvement needs of the prior art, the present invention provides a 3D reconstruction method based on a depth map, aiming at sol

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