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

A technology of three-dimensional image and image acquisition equipment, applied in image analysis, image enhancement, image data processing and other directions, can solve the problems of difficult and large-scale scene accurate reconstruction, cumbersome feature extraction process, large amount of calculation, etc., to achieve accurate three-dimensional The effect of reconstruction, improved accuracy, and small amount of calculation

Active Publication Date: 2022-02-25
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 accuracy of the reconstructed 3D scene lower, and it is more difficult to analyze large-scale scenes. In addition, the process of feature extraction is cumbersome, time-consuming, computationally intensive, and needs to be supported by high-performance hardware

Method used

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

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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. Such as 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-dimension...

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 and image positioning method, device, equipment and storage medium. The acquisition method of the three-dimensional image includes: acquiring the target two-dimensional image and corresponding point cloud data; according to the coordinate correspondence between the three-dimensional coordinates corresponding to the acquisition equipment of the point cloud data and the two-dimensional coordinates corresponding to the acquisition equipment of the target two-dimensional image relationship, the feature vector of the 2D image point in the target 2D image is given to the 3D image point in the point cloud data; according to the 3D image point with feature vector in the point cloud data, the 3D scene image corresponding to the target 2D image is obtained. The technical solution of the embodiment of the present invention improves the accuracy of scene reconstruction based on two-dimensional images, and can accurately perform three-dimensional reconstruction on large-scale scenes. There is almost no scale difference between the reconstructed three-dimensional image and the real scene. In order to obtain the pose of the shooting device corresponding to the two-dimensional image simply and quickly with a small amount of calculation.

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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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/55
CPCG06T7/55G06T2207/10004G06T2207/10028
Inventor 王浩
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD