The application discloses a kind of three-dimensional scene reconstruction methods based on intelligent LED street lamp multimodal sensor, comprising the following steps: obtaining
RGB image and pre-
processing;Input to visual
feature coding module, extract two-dimensional boundary box information, guide object segmentation module to output two-dimensional segmentation
mask;Obtain
point cloud data, project to standardized
RGB image, in combination with two-dimensional segmentation
mask screening target point;Complete
point cloud preliminary segmentation result, map to standardized
RGB image, extract pixel area;The RGB image and
point cloud complete segmentation result of
object level are jointly coded, implicit representation and neural decoding
processing;Fusion into original three-dimensional scene, complete space restoration by point cloud registration,
pose optimization and semantic constraint.The application combines the multimodal sensor of intelligent LED street lamp, and proposes a kind of efficient three-dimensional scene
reconstruction method, with high precision, real-time and dynamic target
processing capacity.