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Three-dimensional reconstruction method based on indoor moving target background restoration

A moving target, three-dimensional reconstruction technology, applied in the field of three-dimensional reconstruction based on indoor moving target background repair, can solve the problem of inability to accurately reconstruct dynamic indoor scenes and so on

Active Publication Date: 2019-12-10
XIDIAN UNIV
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Problems solved by technology

[0006] The purpose of the present invention is to overcome the deficiencies in the prior art, and propose a three-dimensional reconstruction method based on indoor moving object background repair, which is used to solve the technical problem that the existing art cannot accurately reconstruct dynamic indoor scenes

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  • Three-dimensional reconstruction method based on indoor moving target background restoration
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Embodiment Construction

[0043] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0044] refer to figure 1 , the present invention comprises the following steps:

[0045] Step 1) Obtain the RGB image sequence and the depth image sequence of the dynamic indoor scene to be reconstructed:

[0046] Use the depth camera to perform N consecutive shots on the indoor scene to be reconstructed, and obtain the RGB image sequence I=I 1 , I 2 ,... I i ..., I N and depth image sequence D=D 1 ,D 2 ,...D i ...,D N , I i Indicates the i-th RGB image, D i means I i Corresponding depth image, N>50, N=605 in this embodiment;

[0047] Step 2) Obtain the target detection network Yolo:

[0048] All the images in the three categories of human beings, animals, and indoor objects that have been marked in the PASCAL VOC public data set are used as the input of the Darknet-53 target detection network Yolo as the basic network, a...

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Abstract

The invention provides a three-dimensional reconstruction method based on indoor moving target background restoration, which is used for solving the technical problem of low three-dimensional reconstruction accuracy of an indoor dynamic scene caused by a large number of moving target miscellaneous points in the prior art, and comprises the following specific steps: (1) acquiring an RGB image sequence and a depth image sequence of an indoor scene to be reconstructed; (2) obtaining a target area of each RGB image; (3) performing feature matching on adjacent frames in the RGB image sequence; (4)calculating a rotation matrix and a translation vector of pose transformation of the depth camera when shooting adjacent frames; (5) determining an area where a moving target in each RGB image is located; (6) repairing the static background shielded by the moving target in the moving target area of each RGB image; and (7) obtaining a three-dimensional reconstruction result. The three-dimensional reconstruction accuracy in the indoor dynamic environment is obviously higher than that in the prior art, and the method can be used for obtaining and analyzing the three-dimensional information of theindoor dynamic scene.

Description

technical field [0001] The invention belongs to the technical field of computer vision image processing, and relates to a three-dimensional reconstruction method, in particular to a three-dimensional reconstruction method based on indoor moving target background restoration. Background technique [0002] Three-dimensional reconstruction is to simulate three-dimensional objects in the real world by computer to obtain complete three-dimensional information including structure, texture, scale and other objects. At present, there are two common methods of 3D reconstruction, namely contact measurement method and non-contact measurement method. The contact measurement method is based on the principle of force triggering, and the coordinates of the sampling points on the surface of the object are obtained through direct contact between the probe and the object. The non-contact measurement method refers to the method of obtaining and measuring the three-dimensional space of the tar...

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Application Information

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IPC IPC(8): G06T17/00G06T7/33G06T7/80
CPCG06T17/00G06T7/33G06T7/80G06T2207/10016G06T2207/10028G06T2207/20164G06T2207/20084
Inventor 吴宪祥耿煜恒张晋新孙牧野陈笑赵博周旭阳程开
Owner XIDIAN UNIV
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