Three-dimensional point cloud reconstruction device and method based on multi-fusion sensor

Abstract

The invention discloses a three-dimensional point cloud reconstruction device and a three-dimensional point cloud reconstruction method based on a multi-fusion sensor. The device comprises a multi-fusion sensor module, a system data processing module and a three-dimensional point cloud reconstruction module. The method comprises the following steps: acquiring point cloud data and a video image byusing a multi-fusion sensor device, and processing the video image to obtain a target image including target posture, position and texture information; acquiring target point cloud corresponding to the original point cloud according to the acquired posture position information in the original point cloud and the target image; filtering the point clouds to remove messy point clouds; wherein the point cloud coarse registration comprises key point quality analysis; point cloud fine registration; and inputting the registered point cloud into a point cloud reconstruction unit to realize three-dimensional point cloud fusion and reconstruction. According to the method, the feature points corresponding to the target image reconstruction point cloud corresponding to the original three-dimensional point cloud are extracted to obtain the target three-dimensional space position information, texture and color information. Therefore, the point cloud registration precision is improved, and the falseidentification and tracking loss probability is effectively reduced.

Description

technical field [0001] The invention relates to the fields of computer vision, target detection and recognition, multi-sensor measurement, three-dimensional reconstruction, etc., and in particular relates to a three-dimensional point cloud reconstruction device and method based on multi-fusion sensors. Background technique [0002] With the maturity of computer vision, target detection and recognition, and multi-sensor measurement technology, computer 3D models play an important and basic role in people's current production and production activities, and establish real and reliable 3D points for real objects and scenes. Cloud models are an important part of many 3D systems. The quality of the built model plays a very important role in the actual effect of 3D technology in heritage protection, virtual reality, video games and many other applications. [0003] Commonly used 3D reconstruction methods, such as using the parallax method, simulate the way the human visual system ...

AI Technical Summary

Problems solved by technology

However, it requires the assistance of a depth camera and is very sensitive to the accuracy of the depth map. In a large-scale reconstruction scene, the accuracy of the depth camera is always limited, and the accuracy of the depth camera will directly correlate with the accuracy of the reconstructed point cloud.

[0004] In addition, the influence of the point cloud acquisition equipment is also very important. The quality of the point cloud is affected by the accuracy of the acquisition equipment, the interference of the environment, and the occlusion and material problems of the scanned object itself. Clouds often have a lot of noise, noise and holes, and the rapid movement of equipment will cause the failure of the registration technology, resulting in a 3D model with a large error from the real data

Images