The application discloses a high-precision three-dimensional
reconstruction method based on sparse depth, an RGB-D
image sequence of sparse depth is input, the missing depth information in each frame of sparse
depth map is effectively filled in by a depth completion network trained on a public
data set, and a pre-trained visual
large model Dinov2 is used to infer the
semantic information of each frame; for each frame of
RGB image, a joint sampling method based on feature point sampling and uniform sampling is used to extract the sampling points of light, and spatial three-dimensional points are generated through importance sampling and random sampling strategy; the position coding is carried out on the three-dimensional space sampling points to code the low-frequency features, the high-frequency features are processed by using
hash coding, and the two are fused and input into a neural network to predict the color value, SDF value and semantic value; according to the current scene representation information, the
pose of the current frame is rendered and optimized, the predicted value is compared with the real color, depth and
semantic information of the current frame through the global
key frame as a sliding window, the implicit scene representation is optimized, and a high-fidelity three-dimensional model is reconstructed from the sparse depth RGB-D
image sequence. The application effectively solves the problem of insufficient reconstruction precision of the traditional three-dimensional reconstruction technology under the condition of sparse depth data, and has a wide application prospect, and is especially suitable for the field of three-dimensional reconstruction based on RGB-D data.