Rigid object geometric information recovery method and device and storage medium

A technology of geometric information and recovery method, applied in the field of geometric information recovery of rigid objects, can solve problems such as low cost performance, and achieve the effect of improving functional performance and saving expenses

Pending Publication Date: 2022-03-01
JIANGHAN UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although the measurement accuracy and resolution of the above-mentioned 64-line LiDAR are slightly better than the above-mentioned 16-line LiDAR, the price is more than 600,000 RMB, which is more than 20 times the price of the above-mentioned 16-line LiDAR (more than 30,000 RMB). , low price

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  • Rigid object geometric information recovery method and device and storage medium
  • Rigid object geometric information recovery method and device and storage medium
  • Rigid object geometric information recovery method and device and storage medium

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Embodiment Construction

[0071] The present invention will be described in detail below in conjunction with specific embodiments and examples, and the advantages and various effects of the present invention will be presented more clearly. Those skilled in the art should understand that these specific implementations and examples are used to illustrate the present invention, not to limit the present invention.

[0072] Throughout the specification, unless otherwise specified, terms used herein should be understood as commonly used in the art. Therefore, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. In case of conflict, this specification shall take precedence.

[0073] Unless otherwise specified, various raw materials, reagents, instruments and equipment used in the present invention can be purchased from the market or prepared by existing methods.

[0074] Such...

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Abstract

The invention discloses a rigid object geometric information recovery method and device and a storage medium. The method comprises the steps that an original environment point cloud picture is acquired; generating a target scene point cloud according to the original environment point cloud picture; fitting a three-dimensional space curved surface according to the target scene point cloud; projecting the target scene point cloud to the three-dimensional space curved surface; performing interpolation operation on the three-dimensional space curved surface; performing triangulation on the three-dimensional space curved surface to obtain a triangulation triangle; and creating the geometric information depth map of the rigid object according to the triangulation triangle. According to the rigid object geometric information recovery method and device and the storage medium provided by the invention, a high-resolution point cloud image is created by using methods such as curved surface fitting, point cloud projection and interpolation, and a depth image generated on the basis of the point cloud image is more accurate than a directly generated depth image and is closer to a real scene in hierarchical distribution.

Description

technical field [0001] The invention belongs to the technical field of restoring geometric information of rigid objects, and in particular relates to a method, device and storage medium for restoring geometric information of rigid objects. Background technique [0002] The geometric information of an object refers to its size and position in three-dimensional Euclidean space. The geometric information of objects has a wide range of applications in the fields of computer vision and moving vehicles, such as semantic segmentation, 3D modeling and reconstruction, detection, navigation, etc. Unmanned autonomous mobile vehicles have recently been widely used in industrial safety testing, disinfection and epidemic prevention, warehousing and logistics, smart factories, agricultural picking and other fields. Unmanned autonomous mobile vehicles need to install different sensors to collect different types of information around them, and observe the surrounding environment based on pe...

Claims

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Application Information

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Patent Type & AuthorityApplications(China)
IPC IPC(8): G06T7/50G06T17/20
CPCG06T7/50G06T17/20
Inventor何强余家伟
OwnerJIANGHAN UNIVERSITY