Laser and image data fused three-dimensional reconstruction method and system

Abstract

The invention discloses a laser and image data fused three-dimensional reconstruction method. The method comprises the steps of obtaining three-dimensional point cloud data of a laser radar and RGB image data of a camera in a to-be-reconstructed three-dimensional scene; mapping the three-dimensional point cloud data of the laser radar to a two-dimensional image space of a camera, and constructinga sparse depth map; converting the sparse depth map into a dense depth map, and obtaining RGB information and depth information of each frame of image; constructing a crystal grid of a to-be-reconstructed three-dimensional scene, mapping the depth information of each frame of image into the crystal grid, and determining the surface of a reconstructed three-dimensional model; and mapping the RGB information of each frame of image to the surface of the reconstructed three-dimensional model to form texture information, and obtaining the reconstructed three-dimensional model. The invention furtherdiscloses a laser and image data fused three-dimensional reconstruction system. Data generated by passive three-dimensional reconstruction and data generated by active three-dimensional reconstruction are fused and intercommunicated, and real-time reconstruction of a three-dimensional scene is achieved.

Description

technical field [0001] The invention relates to the technical field of computer vision, in particular to a three-dimensional reconstruction method and system for fusion of laser and image data. Background technique [0002] 3D reconstruction technology refers to a series of processes such as 2D image data acquisition, depth data extraction, point cloud extraction and matching, surface generation, normal line generation, and texture mapping to obtain and integrate 3D surface meshes from discrete data. Model process. Through the use of 3D reconstruction methods, objects in the real world can be converted into digital models that can be expressed by computer logic data, and rendered in a virtual environment or used for mathematical and physical simulation operations. In recent years, the research on 3D reconstruction technology is mainly divided into two directions, namely passive 3D reconstruction technology and active 3D reconstruction technology. [0003] (1) Passive 3D re...

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Problems solved by technology

This type of method is easily affected by environmental factors, such as sunlight, which leads to inaccurate depth of the scene, and the light source or energy source itself has systematic errors and random errors, which have a great impact on the measurement results, and post-data processing is required

[0005] The execution process of the above two reconstruction methods is very different, the intermediate data and the result data cannot communicate with each other, and can only be output in parallel

In actual use, often only one solution can be selected for specific implementation, the work efficiency is low, and the defects of each method cannot be improved through workflow or data fusion

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