Indoor scene main structure reconstruction method and system based on depth image key frame

A technology for depth images and indoor scenes, which is applied in the field of image processing and can solve problems such as errors in extracting main structures

Active Publication Date: 2019-03-29
SHANDONG UNIV
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Due to the limitation of a single frame image, the above

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  • Indoor scene main structure reconstruction method and system based on depth image key frame
  • Indoor scene main structure reconstruction method and system based on depth image key frame

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[0120] It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless otherwise specified, all technical and scientific terms used in the embodiments of the present application have the same meanings as commonly understood by those of ordinary skill in the art to which the present application belongs.

[0121] It should be noted that the terminology used here is only used to describe specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof.

[0122] With the promotion of depth cameras, depth images ar...

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Abstract

The embodiment of the invention discloses an indoor scene main structure reconstruction method and system based on a depth image key frame. The method includes: acquiring a depth image: acquiring depth image from a depth camera, processing the depth image to obtain correspond point cloud data, and obtaining a normal vector according to the point cloud data; Calculating a camera pose matrix of thecurrent frame; Judging whether the current frame depth image is a key frame depth image, and if so, adding the current frame depth image into the key frame sequence; Calculating a master structure plane equation set for each frame depth image added to a key frame sequence; Based on the camera posture matrix, the main structure plane equation is transformed from camera coordinate system to world coordinate system. A main structure plane equation set which is added later is register and fused with a main structure plane equation set which is added firstly; Until all the frames in the key frame sequence are processed, the main structure of the indoor scene is reconstructed according to the final fusion set of main structure plane equations.

Description

technical field [0001] The embodiments of the present application relate to the technical field of image processing, in particular to a method and system for reconstructing a main structure of an indoor scene based on key frames of a depth image. Background technique [0002] The Kinect sensor is an RGB-D sensor that can simultaneously obtain the color value and depth value of the environment. Its advantages such as fast acquisition speed, high precision, and low price make it applicable to various fields. Object recognition, scene segmentation, and 3D reconstruction of indoor scenes based on depth images have also become research hotspots. [0003] The depth map obtained by the Kinect camera can be mapped to the space to form a set of discrete 3D point clouds. The camera pose estimation, registration and fusion are performed through the point cloud, and finally the reconstruction algorithm of generating a 3D model of the indoor scene is also being continuously adopted. opt...

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Application Information

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IPC IPC(8): G06T17/00G06T7/30
CPCG06T17/00G06T2207/10028G06T2207/20028G06T7/30
Inventor 周元峰高凤毅张彩明
Owner SHANDONG UNIV
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