The invention discloses a high-precision three-dimensional
reconstruction method based on sparse depth, and the method comprises the steps: inputting an RGB-D
image sequence of sparse depth, effectively filling the missing depth information in each frame of sparse depth image through a depth completion network trained on a public
data set, and reasoning the
semantic information of each frame through a pre-trained visual
large model Dinov2; for each frame of
RGB image, a combined sampling method based on feature point sampling and uniform sampling is adopted to extract sampling points of light, and spatial three-dimensional points are generated through importance sampling and random sampling strategies; performing position coding on the three-dimensional space sampling points to code low-frequency features,
processing high-frequency features by using
Hash coding, fusing the low-frequency features and the high-frequency features, inputting the fused high-frequency features and the fused high-frequency features into a neural network, and predicting a color value, an SDF value and a semantic value; and rendering and optimizing the
pose of the current frame according to the current scene representation information, comparing a predicted value with the real color, depth and
semantic information of the current frame by taking a global
key frame as a sliding window, and optimizing implicit scene representation, thereby realizing reconstruction of a high-fidelity three-dimensional model from the sparse depth RGB-D
image sequence. The method effectively solves the problem that a traditional three-dimensional reconstruction technology is insufficient in reconstruction precision under the sparse depth data condition, has a wide application prospect, and is particularly suitable for the three-dimensional reconstruction related
field based on RGB-D data.