Three-dimensional image acquisition method and device, three-dimensional image positioning method and device, equipment and storage medium

A technology of 3D image and image acquisition equipment, which is applied in image enhancement, image analysis, image data processing, etc., and can solve problems such as time-consuming, low accuracy of 3D scenes, and difficult large-scale accurate reconstruction of scenes.

Active Publication Date: 2019-08-23
BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In the process of implementing the present invention, the inventor found that the existing technology has the following defects: there are accumulated errors in the process of reconstructing the 3D scene through SFM technology, which makes the accur

Method used

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  • Three-dimensional image acquisition method and device, three-dimensional image positioning method and device, equipment and storage medium
  • Three-dimensional image acquisition method and device, three-dimensional image positioning method and device, equipment and storage medium
  • Three-dimensional image acquisition method and device, three-dimensional image positioning method and device, equipment and storage medium

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Experimental program
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Embodiment 1

[0040] figure 1 It is a flow chart of a method for acquiring a 3D image provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation where the 3D image of the scene is reconstructed based on the 2D image corresponding to the scene. The method can be obtained by acquiring the 3D image The device may be implemented by means of software and / or hardware, and the device may be integrated into a server or other equipment. like figure 1 As shown, the method specifically includes the following steps:

[0041] S110. Acquire a target two-dimensional image and point cloud data corresponding to the target two-dimensional image.

[0042] In this embodiment, the target two-dimensional image may specifically be an image of a certain scene including one or more scenes. Generally speaking, a smaller scene can be fully displayed by only one 2D image, while a larger scene can be fully displayed by multiple 2D images. Therefore, the target two-dimensional ...

Embodiment 2

[0056] figure 2 It is a flow chart of a method for acquiring a three-dimensional image provided in Embodiment 2 of the present invention. This embodiment is optimized on the basis of the foregoing embodiments, and in this embodiment, a specific implementation manner of a specific feature vector assignment method is given. Explanations of terms that are the same as or corresponding to those in the foregoing embodiments will not be repeated in this embodiment.

[0057] Correspondingly, the method in this embodiment specifically includes:

[0058] S210. Acquire a target two-dimensional image and point cloud data corresponding to the target two-dimensional image.

[0059] S220. Obtain each 3D image point in the point cloud data according to the coordinate relationship between the 3D coordinates of the point cloud corresponding to the point cloud acquisition device of the point cloud data and the 2D coordinates of the image corresponding to the image acquisition device of the ta...

Embodiment 3

[0069] image 3 It is a flowchart of a method for acquiring a three-dimensional image provided in Embodiment 3 of the present invention. This embodiment is optimized on the basis of the foregoing embodiments. In this embodiment, a method for obtaining a specific two-dimensional mapping point and a specific implementation of a mapping method for a specific feature vector are given. Explanations of terms that are the same as or corresponding to those in the foregoing embodiments will not be repeated in this embodiment.

[0070] Correspondingly, the method in this embodiment specifically includes:

[0071] S310. Acquire a target two-dimensional image and point cloud data corresponding to the target two-dimensional image.

[0072] S320. Obtain a coordinate transformation matrix between the point cloud three-dimensional coordinates corresponding to the point cloud acquisition device of the point cloud data and the image two-dimensional coordinates corresponding to the image acqui...

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Abstract

The embodiment of the invention discloses a three-dimensional image acquisition method and device, a three-dimensional image positioning method and device, equipment and a storage medium. The three-dimensional image acquisition method comprises the steps of acquiring a target two-dimensional image and point cloud data corresponding to the target two-dimensional image; endowing three-dimensional image points in the point cloud data with the feature vectors of the two-dimensional image points in the target two-dimensional image according to a coordinate corresponding relation between the three-dimensional coordinates corresponding to the point cloud data acquisition equipment and the two-dimensional coordinates corresponding to the target two-dimensional image acquisition equipment; and obtaining a three-dimensional scene image corresponding to the target two-dimensional image according to the three-dimensional image points with the feature vectors in the point cloud data. According to the technical scheme provided by the embodiment of the invention, the scene reconstruction accuracy based on the two-dimensional image is improved; accurate three-dimensional reconstruction can be carried out on a large-scale scene, almost no scale difference exists between a three-dimensional image obtained through reconstruction and a real scene, and the shooting equipment attitude correspondingto the two-dimensional image can be simply, conveniently and rapidly obtained through a small calculation amount.

Description

technical field [0001] Embodiments of the present invention relate to a three-dimensional scene reconstruction technology, and in particular, to a method, device, device, and storage medium for acquiring and positioning a three-dimensional image. Background technique [0002] Vision-based 3D reconstruction refers to obtaining a 2D image of an object in a scene through a camera, analyzing and processing the 2D image, and combining computer vision knowledge to derive a 3D image of the scene. [0003] In the prior art, the three-dimensional scene reconstruction is generally implemented by using SFM (structure from motion, structure from motion) technology. The reconstruction process is generally as follows: first obtain multiple 2D images corresponding to the scene to be reconstructed, and then perform feature extraction and feature matching operations on all 2D images to determine the distance between the 2D image points and 3D image points in the 2D images. Matching relation...

Claims

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Application Information

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IPC IPC(8): G06T7/55
CPCG06T7/55G06T2207/10004G06T2207/10028
Inventor 王浩
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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