The invention discloses a load balancing
Gaussian sputtering method for large-scale scene
geometric reconstruction. The method comprises the following steps: step 1, acquiring a multi-view
RGB image sequence of a large-scale scene, and
processing the multi-view
RGB image sequence by using a COLMAP tool to obtain camera parameters and an initial sparse
point cloud; 2, based on a pixel-level load balancing strategy, effective
Gaussian primitives are screened,
spatial distribution of the effective
Gaussian primitives is regulated and controlled through a
loss function, and redundant primitives are reduced; 3, introducing global consistent geometric prior, fusing
monocular depth and sparse
point cloud depth to generate a reference
depth map, and constructing depth consistency and smooth loss; 4, dividing illumination areas through a multi-area
exposure compensation model, adaptively correcting brightness, and constructing image
luminosity loss; and 5, performing
global optimization in combination with multi-dimensional loss. And 6, rendering a
depth map for the trained model, generating a TSDF field by using a TSDF fusion
algorithm, and extracting a scene grid to obtain a final three-dimensional geometric model. According to the method, large-scale scene high-precision reconstruction can be realized on a single GPU, memory consumption is remarkably reduced, and
geometric reconstruction quality and illumination robustness are improved.