Indoor scene three-dimensional modeling method and device

Abstract

The invention discloses an indoor scene three-dimensional modeling method and a device, and relates to the technical field of computers. One specific embodiment of the method comprises the following steps: synchronously acquiring single-line laser point cloud data, a depth map and color image data; determining initial pose data of the point cloud according to the single-line laser point cloud data; determining accurate pose data of the point cloud according to the initial pose data of the point cloud, the depth map and the color image data; and mapping the depth map and the color image data toa unified coordinate system by using the accurate pose data of the point cloud to obtain a three-dimensional panoramic model. According to the method, the problem that most of indoor scene information is missed is solved, meanwhile, the requirement for a sampling scene is relatively low, sampling equipment can be flexibly deployed, and the operand in the modeling process is greatly reduced. And the modeling stability is ensured, and the modeling accuracy is also improved.

Description

technical field [0001] The invention relates to the field of computer technology, in particular to a method and device for three-dimensional modeling of an indoor scene. Background technique [0002] Indoor scene 3D modeling technology is widely used in 3D virtual scene roaming, interior decoration auxiliary design, 3D game development, digital city, smart home, indoor drawing, etc. because of its intuitive, accurate, convenient and rich information content. practical value. Due to the particularity of the indoor environment, the GPS signal is blocked by buildings and cannot be used, and the inertial navigator and wheel encoder have accumulated errors. In the field of indoor scene modeling, increasingly mature technologies such as computer vision, data fusion, visual navigation, and 3D modeling provide theoretical basis and technical support for 3D modeling of indoor scenes. At present, the more successful application is to use laser SLAM (simultaneous localization and map...

AI Technical Summary

Problems solved by technology

[0004] 1. The SLAM modeling method based on single-line lidar can only get the plane model of the indoor scene, and most of the indoor scene information is omitted

[0005] 2. The visual SLAM method based on camera images is greatly affected by ambient light and environmental structure texture, and there are problems with the stability and accuracy of modeling

[0006] 3. The closed-loop scenario has strict requirements, and the operation restrictions are high when collecting data, which makes it impossible to actually deploy, and at the same time, the amount of calculation is large

[0007] 4. SLAM modeling method based on multi-line laser radar, multi-line laser sensor is expensive

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