Indoor scene scanning reconstruction method and apparatus

Abstract

The invention discloses an indoor scene scanning reconstruction method and apparatus. The method comprises: obtaining scanning image information of an indoor space, captured by a robot, and according to the scanning image information, reconstructing a three-dimensional scene model graph of the indoor space; segmenting the three-dimensional scene model graph into a plurality of regions of interest; for each region of interest, performing the following operation: segmenting the region of interest into a plurality of small regions; controlling the robot to apply a thrust to an object corresponding to each small region to obtain images of the plurality of the small regions after the thrust is applied; comparing the small region images after the thrust is applied with the small region images before the thrust is applied, segmenting the objects in the images according to comparison results, and controlling the robot to scan non-completely scanned parts in the objects separated after the thrust is applied to obtain complete three-dimensional data of the objects; and according to the segmented objects and the complete three-dimensional data of the objects, reconstructing an indoor scene. According to the technical scheme, the efficiency and precision of reconstructing the indoor scene are improved.

Description

technical field [0001] The invention relates to the technical field of three-dimensional scanning and reconstruction, in particular to a method and device for indoor scene scanning and reconstruction. Background technique [0002] At present, 3D reconstruction technology has been the focus of research in the fields of computer vision and computer graphics. From the initial 3D reconstruction of a point in 3D space to the 3D reconstruction of a specific object, and then to the 3D reconstruction of the entire indoor scene and even the entire city, the research on 3D reconstruction has made great development and progress, and has been applied It has reached all aspects of human daily life, such as: 3D printing, digital museum, visual tracking, terrain navigation, etc. For 3D scene modeling, digital reproduction technology can conveniently process and analyze the surrounding environment information, so that the details of the real scene can be seen clearly from every angle, and ...

AI Technical Summary

Problems solved by technology

[0009] (1) Limited scene processing: the existing technology can only analyze several objects on the desktop, and cannot process the entire indoor scene with a large and messy range

[0010] (2) The segmentation accuracy rate is not high: in the case of the same number of interactions (about 10 times) and the same scene (daily objects on the desktop), the segmentation accuracy rate of existing methods is only 70% to 80%.

[0011] (3) The interaction efficiency is not high: the existing technology needs to push 10-12 times for a small scene with only 5-6 objects to get a satisfactory segmentation result

[0012] (4) Objects in the scene cannot be effectively reconstructed: none of the existing work considers how to reconstruct the segmented objects

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