Point cloud compression and inertial navigation based mobile context real-time three-dimensional reconstruction method

A technology of inertial navigation and moving scenes, applied in the field of real-time three-dimensional reconstruction, can solve the problems of unsuitable processing time and slow running speed, and achieve high compression ratio and reduce the number of effects

Inactive Publication Date: 2016-01-20
DONGHUA UNIV
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  • Application Information

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Problems solved by technology

Although this type of method is low in cost, high in automation, and the reconstructed 3D model contains rich texture and other information, it requires a lot of processing of image information, and its running speed is slow. It is suitable for small single building modeling, but for Large-scale scene modeling with complex landforms is not applicable due to the limitation of computer processing time

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  • Point cloud compression and inertial navigation based mobile context real-time three-dimensional reconstruction method
  • Point cloud compression and inertial navigation based mobile context real-time three-dimensional reconstruction method
  • Point cloud compression and inertial navigation based mobile context real-time three-dimensional reconstruction method

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Embodiment Construction

[0031] In order to make the present invention more comprehensible, preferred embodiments are described in detail below with accompanying drawings.

[0032] The present invention mainly researches the method of using the sensor to move in the indoor scene, continuously acquiring point clouds under different viewing angles, and reconstructing the three-dimensional model of the whole scene in real time.

[0033] Description of the problem:

[0034] For the scene S, the Kinect camera is respectively from the viewpoint {V 1 ,...,V k ,...V n} Get point cloud set {M in turn 1 ,...,M k ,... M n}, the purpose of mobile 3D reconstruction is to obtain point cloud data under different viewing angles, under the action of the reconstruction algorithm R(□), to obtain S′=R(M 1 ,...,M k ,... M n ), making S and S′ satisfy the constraints of the similarity measure function E(□):

[0035] |E(S)-E(S')|<ε

[0036] Analysis of the problem:

[0037] Due to the large number of point clouds...

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Abstract

The invention relates to a PFH and inertial navigation based mobile context real-time three-dimensional reconstruction method. The PFH and inertial navigation based mobile context real-time three-dimensional reconstruction method is divided into three stages below: a first stage of designing a PFH based point cloud compression algorithm; a second stage of designing an inertial navigation based point cloud registration algorithm; and a third stage of finishing point cloud fusion. The PFH and inertial navigation based mobile context real-time three-dimensional reconstruction method can realize a relatively high compression ratio and can effectively reduce number of input point sets of an ICP algorithm, thereby saving computation time for point cloud registration and point cloud fusion. The number of iterations of the ICP algorithm is reduced, the rate of convergence is increased, and the real-time performance of the whole reconstruction algorithm is consequently improved.

Description

technical field [0001] The invention relates to a method for real-time three-dimensional reconstruction in a moving scene based on point cloud compression and inertial navigation, and belongs to the fields of computer machine vision and augmented reality. Background technique [0002] 3D reconstruction technology is one of the hot research directions in the field of computer vision. It mainly studies how to obtain the 3D information of objects in space, realize the real reproduction of the objective environment in the computer, and provide accurate 3D scene information for machines and humans. [0003] The main research directions of 3D reconstruction include scene reconstruction, map construction and model reconstruction. The 3D scene information of the surrounding environment can help the robot understand its environment more clearly and realize friendly interaction with the environment, which plays an important role in robot navigation, archaeological survey, disaster res...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/00
Inventor 王艺楠郝矿荣丁永生
Owner DONGHUA UNIV
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