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Large-scale scene three-dimensional reconstruction method for fusion of additional information

A technology of additional information and 3D reconstruction, which is applied in the field of 3D reconstruction of large scenes fused with additional information, can solve the problems of overly sensitive trajectories, insufficient robustness, and inability to apply UAV images, etc., and achieve high scalability and robustness. Strong stickiness, reasonable and reliable effect of 3D scene

Active Publication Date: 2014-12-10
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology

This method has high computational efficiency, but it cannot be applied to UAV images, and the method is not robust enough, and it is too sensitive to the trajectory corresponding to the mismatched 3D scene point

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  • Large-scale scene three-dimensional reconstruction method for fusion of additional information
  • Large-scale scene three-dimensional reconstruction method for fusion of additional information
  • Large-scale scene three-dimensional reconstruction method for fusion of additional information

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Embodiment Construction

[0043] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0044] The present invention proposes a large-scene 3D reconstruction method that combines additional information, making it not only applicable to ordinary disordered image reconstruction, but also fast and robust 3D reconstruction of ordered images such as drones and street scenes. The method is robust to mismatching and has high scalability.

[0045] The large scene three-dimensional reconstruction method of fusing additional information of the present invention comprises the following steps:

[0046] Step 1, extracting SIFT feature points on all images, performing image matching on them, constructing an epipolar geometric map, and obtaining trajectories corresponding to three-dimensional scene points corresponding to ...

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Abstract

A large-scale scene three-dimensional reconstruction method for fusion of additional information includes: extracting SIFT (scale invariant feature transform) points of all images, performing image matching, and structuring external-pole geometric graphs to obtain trajectories corresponding to all three-dimensional spots; according to inertial measurement unit information or compass angles, obtaining initial camera rotation matrixes of all images, iteratively searching currently reliable connecting edges from the external-pole geometric graphs and performing global optimization by the aid of the edges; initializing the center of a camera to be a GPS (global position system) corresponding to the images to obtain initial projection matrixes of the images according to image initializing focus information, the rotation matrixes and the center of a camera, and iteratively triangulating and adjusting in bundle according to the projection matrixes and the trajectories of the three-dimensional spots. The large-scale scene three-dimensional reconstruction method is rapid in calculation, the obtained three-dimensional spots are reasonable and reliable, image mismatching sensitiveness is low, generalization performance is high, and the method is applicable to both orderly and disorderly image sets.

Description

technical field [0001] The invention relates to a three-dimensional reconstruction method in the field of computer vision, in particular to a large-scene three-dimensional reconstruction method that fuses additional information. Background technique [0002] Fusion of additional information to assist 3D reconstruction is one of the important research directions of computer vision. It has a wide range of applications in 3D landform generation, digital cultural heritage preservation of historical sites and sites, and 3D street view city navigation. In the process of 3D reconstruction, how to effectively fuse the prior information containing noise has an important impact on whether the 3D reconstruction can be performed quickly and robustly. There is no complete set of ideas and algorithms in the existing methods to fully integrate various prior information assistance. Fast and Robust 3D Reconstruction in Various Scenes. [0003] Through literature retrieval to prior art, it i...

Claims

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Application Information

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IPC IPC(8): G06T17/00
Inventor 胡占义崔海楠申抒含高伟
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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