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Real-time three-dimensional reconstruction method based on depth sensor

A depth sensor, real-time three-dimensional technology, applied in the direction of instrumentation, 3D modeling, image data processing, etc., can solve problems such as large noise, unsatisfactory reconstruction effect, unstable 3D point cloud, etc., to improve fitting accuracy and improve Operating efficiency and accuracy, the effect of reduced time

Active Publication Date: 2020-02-21
SHANGHAI NORMAL UNIVERSITY
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Problems solved by technology

However, due to the large noise in the depth image of the Kinect sensor, the reconstructed 3D point cloud of a single scene and object is very unstable, so the reconstruction effect is not particularly ideal.

Method used

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  • Real-time three-dimensional reconstruction method based on depth sensor
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  • Real-time three-dimensional reconstruction method based on depth sensor

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Embodiment Construction

[0037] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

[0038] Such as figure 1 As shown, a real-time 3D reconstruction method based on a depth sensor includes the following steps:

[0039] Step S1: Obtain real-time color and depth images of the target object through the depth sensor and perform preprocessing;

[0040] Step S2: Generate and register the 3D origin point cloud of the target object according to the color and depth images;

[0041] Step S3: Filter the 3D origin point cloud to obtain the target point cloud of the target object;

[0042] Step S4: Draw a triangle mesh according to the target point cloud and create a map area; ...

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Abstract

The invention relates to a real-time three-dimensional reconstruction method based on a depth sensor. The real-time three-dimensional reconstruction method comprises the following steps of S1, acquiring real-time color and depth images of a target object through the depth sensor and performing preprocessing; S2, generating a three-dimensional origin cloud of the target object according to the color and depth images, and performing registration; S3, filtering the three-dimensional origin cloud to obtain a target point cloud of the target object; s4, drawing a triangular grid according to the target point cloud and creating a mapping area; and S5, combining curved surfaces formed by the coordinates of the three vertexes of all the triangular grids in the mapping area to generate a complete three-dimensional surface. Compared with the prior art, the three-dimensional model reconstructed by the method has the advantages of high stability, clear detail features, short reconstruction time and the like.

Description

technical field [0001] The invention relates to the technical field of three-dimensional image processing, in particular to a real-time three-dimensional reconstruction method based on a depth sensor. Background technique [0002] As computer vision technology continues to be widely used in various fields of real life, as an important branch of computer vision technology, it is also a popular research direction in the field of vision: 3D reconstruction technology will also be more and more widely applied to In real life. The current 3D object reconstruction and scene 3D reconstruction methods based on the Kinect sensor first obtain the 3D point cloud of a single scene or object according to the depth image, and then register the point cloud to complete the 3D reconstruction of the entire object surface and large scene. The reconstruction results of the method depend on the registration results of point clouds. However, due to the large noise in the depth image of the Kinec...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/20G06T5/00G06T7/30
CPCG06T17/20G06T7/30G06T2207/10012G06T5/70
Inventor 张倩段娅然徐凤玉杨茜芮王怡丹沈慧中郑昊杜昀璋
Owner SHANGHAI NORMAL UNIVERSITY
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