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Three-dimensional reconstruction method, device, electronic equipment and computer storage medium

A technology of 3D reconstruction and 3D map, which can be used in computing, 3D modeling, image analysis, etc., can solve problems such as low efficiency, and achieve the effect of improving efficiency

Active Publication Date: 2022-06-24
杭州易现先进科技有限公司
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  • Abstract
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Problems solved by technology

[0004] Embodiments of the present application provide a 3D reconstruction method, device, electronic equipment, and computer storage medium to at least solve the problem of low efficiency in 3D reconstruction of large-scale scenes in related technologies

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  • Three-dimensional reconstruction method, device, electronic equipment and computer storage medium
  • Three-dimensional reconstruction method, device, electronic equipment and computer storage medium
  • Three-dimensional reconstruction method, device, electronic equipment and computer storage medium

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Embodiment Construction

[0041] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0042]Obviously, the accompanying drawings in the following description are only some examples or embodiments of the present application. For those of ordinary skill in the art, the present application can also be applied to the present application according to these drawings without any creative effort. other similar situations. In addition, it will also be appreciated th...

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Abstract

The present invention relates to a three-dimensional reconstruction method, device, electronic equipment and computer storage medium, wherein, the method includes: calculating the relative pose similarity transformation between the SFM models in the topological relationship diagram, the topology relationship diagram is when the image set is collected The obtained spatial position prior, each SFM model is obtained by three-dimensional reconstruction based on the SFM algorithm of each image set of a large-scale scene block; the maximum spanning tree is obtained by processing the topological relationship graph, and the maximum spanning tree is a subset of the topological relationship graph; Find the node with the largest degree in the maximum spanning tree as the root node, and use the root node as the reference coordinate system to perform similar transformation on the SFM models on other nodes to unify the coordinate systems of multiple SFM models and obtain the combined target 3D map, and perform a global optimization of the pose graph to obtain the optimized target 3D map. Through this application, the problem of low efficiency in three-dimensional reconstruction of large-scale scenes is solved.

Description

technical field [0001] The present invention relates to the field of computer vision computing, and in particular, to a three-dimensional reconstruction method, device, electronic device and computer storage medium. Background technique [0002] Using traditional SFM (Structure From Motion, also known as Structure From Motion) technology, visual 3D reconstruction of a scene is divided into the following steps: 1. Image feature point extraction; 2. Pairwise image matching and geometric calibration 3. Multi-image feature point tracking; 4. Triangulation of two / multiple images; 5. Global BA (Bundle Adjustment, also known as beam adjustment) optimization for multiple images. In the related art, a large-scale scene such as a city-level aerial image is reconstructed in three dimensions, the matching weight is defined by the number of feature points matching between multiple images of the large-scale scene, and then a normalized cutting algorithm is used to analyze the multiple ima...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T17/00G06T17/05G06T7/73
CPCG06T17/005G06T17/05G06T7/75
Inventor 王成丛林
Owner 杭州易现先进科技有限公司
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