A real-time indoor 3D reconstruction method based on low-cost RGB-D sensor

An RGB-D, 3D reconstruction technology, applied in the field of real-time 3D reconstruction of indoor scenes, can solve problems such as poor realism, incomplete 3D models, and insufficient data information.

Inactive Publication Date: 2018-12-25
FUZHOU UNIV
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Problems solved by technology

[0002] 3D reconstruction technology has always been a hot topic in the field of computer graphics and computer vision. Early 3D reconstruction technology usually used 2D images as input to reconstruct the 3D model in the scene. However, limited by the lack of rich input data information, The reconstructed

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  • A real-time indoor 3D reconstruction method based on low-cost RGB-D sensor
  • A real-time indoor 3D reconstruction method based on low-cost RGB-D sensor
  • A real-time indoor 3D reconstruction method based on low-cost RGB-D sensor

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Embodiment Construction

[0075] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0076] Such as Figure 1 to Figure 3 As shown, this embodiment provides a real-time indoor three-dimensional reconstruction method based on a low-cost RGB-D sensor, which specifically includes the following steps:

[0077] Step S1: Construct an unordered list of surface elements M to represent the 3D reconstructed scene;

[0078] Step S2: Define a time window threshold δ t , divide the surfel M constructed in step S1 into an active model and an inactive model, and only the surfel marked as the active model can be used for sensor pose estimation and point cloud map fusion;

[0079] Step S3: Obtain the depth image and color image of the indoor scene by the RGB-D sensor, and obtain the sensor pose estimation of the latest frame through the joint optimization of frame-to-model geometric tracking and photometric tracking, and complete the preliminary 3D re...

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Abstract

The invention relates to a method based on a low-cost RGB-D sensor. Firstly, a series of disordered lists of panel elements are constructed to represent the reconstructed 3D scene. According to the time threshold, the reconstruction model is divided into an active model and an inactive model. The RGB-D sensor obtains the depth image and color image of the indoor scene, and obtains the sensor poseestimation of the latest frame through the joint optimization of geometric tracking and photometric tracking from the frame to the model, thus completing the preliminary three-dimensional reconstruction of the indoor scene; a deformation map is constructed for each frame of point cloud data, the deformation map is optimized to improve the registration accuracy of single frame model surface, and further improve the overall three-dimensional reconstruction accuracy; Finally, when the sensor re-accesses the reconstructed region, the active and inactive models are strongly aligned to complete thelocal loop detection, and the complete, accurate and high-precision indoor scene three-dimensional model is finally obtained.

Description

technical field [0001] The invention relates to the technical field of real-time three-dimensional reconstruction of indoor scenes, in particular to a real-time indoor three-dimensional reconstruction method based on a low-cost RGB-D sensor. Background technique [0002] 3D reconstruction technology has always been a hot topic in the field of computer graphics and computer vision. Early 3D reconstruction technology usually used 2D images as input to reconstruct the 3D model in the scene. However, limited by the lack of rich input data information, The reconstructed 3D models are usually incomplete, less accurate and less realistic. Subsequently, ranging sensors such as lasers and radars or structured light technologies were used to realize 3D reconstruction of scenes, but because these devices are expensive and inconvenient to use, their applications are limited. With the emergence of various consumer-grade RGB-D sensors, 3D scanning and reconstruction technologies based on...

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Application Information

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IPC IPC(8): G06T17/10G06T15/10
CPCG06T17/10G06T15/10
Inventor 张立伟陈缘谢树泷周文志王杰
Owner FUZHOU UNIV
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