Method and system for reconstructing a three-dimensional model of a physical workspace

Abstract

The present invention provides methods and systems for reconstructing a three-dimensional model of a physical workspace. The method includes: acquiring a state parameter representing the motion state of the mobile device; calculating a motion trajectory representing the change of the position of the mobile device in the physical workspace based on the state parameter; The track segment of interest in the motion track of the device, the track segment of interest is the track where the collection device is held by the operator and the collection position is changed; the multiple collection positions are determined on the motion track of the collection device, so as to Acquiring multiple pieces of point cloud data respectively representing the multiple collection positions; and obtaining the relative positional relationship of the multiple collection positions based on the multiple pieces of point cloud data of the trajectory segment of interest, for based on the relative The multiple sub-models are stitched together according to the positional relationship, so as to reconstruct the three-dimensional model.

Description

technical field [0001] The present invention relates to the field of three-dimensional reconstruction, in particular to a method and system for reconstructing a three-dimensional model of a physical workspace. Background technique [0002] With the increasing demand for refined 3D models in smart cities, cultural relics protection, indoor navigation, virtual reality, etc., the reconstruction technology of 3D models has become a research hotspot. During the reconstruction of the 3D model, the 3D model can be reconstructed by splicing multiple sub-models with overlapping parts together. [0003] In order to stitch multiple sub-models together in an orderly manner, one existing solution is to perform rough stitching manually first, and then perform precise stitching through algorithms based on the rough stitching. However, this existing solution has the problems of low efficiency of manual splicing and easy splicing errors, resulting in reconstruction failure. [0004] Anothe...

AI Technical Summary

Problems solved by technology

In this way, when there are a lot of weak textures, weak lighting or tracking loss in the image of the sub-model to be stitched, it is difficult to achieve a better stitching effect by using this scheme

Moreover, in the long-term, loop-free positioning tracking process of the sub-models to be spliced, the visual positioning algorithm usually has the problems of error accumulation and scale drift.

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