Indoor three-dimensional scene reconstruction method employing plane characteristics

Abstract

The invention provides an indoor three-dimensional scene reconstruction method employing plane features, and the method comprises the steps: obtaining an RGB image and a depth image of an indoor scene in real time, and completing the reconstruction of a single-frame three-dimensional point cloud; carrying out the feature extraction of two adjacent RGB images, and obtaining the initial rotating matrixes of the two adjacent three-dimensional point clouds; carrying out the downsampling of each three-dimensional point cloud, and extracting the plane features of the indoor scene from each three-dimensional point cloud; determining each plane position; calculating an error rotating matrix; correcting the initial rotating matrixes, and carrying out the jointing and registering of each two three-dimensional point clouds; and finally achieving the reconstruction of the indoor three-dimensional scene through the jointing and registering of each three-dimensional point cloud. The method carries out the error elimination through employing the geometric features of the point clouds, and extracts the plane features of the point clouds quickly and effectively. The success rate of the matching of the plane features of the current and former point clouds is higher. According to the plane features, the method judges the type of the planes, calculates the error matrix, corrects the initial rotating matrix, and obtains a more accurate indoor three-dimensional point cloud map.

Description

technical field [0001] The technical field of three-dimensional scene reconstruction that the present invention relates to, in particular, relates to an indoor three-dimensional scene reconstruction method using plane features. Background technique [0002] Vision-based 3D reconstruction technology refers to the use of digital cameras as image sensors, the comprehensive use of image processing, visual computing and other technologies for non-contact 3D measurement, and the acquisition of 3D information of objects through computer programs. Many related engineering technology researches need to carry out relevant analysis and calculation on the three-dimensional environment or objects, so as to obtain useful digital information more intuitively, so as to guide related engineering calculations. Therefore, 3D scene reconstruction is being increasingly used in industries, disaster rescue, autonomous navigation of mobile robots, service systems, augmented reality and other fields...

AI Technical Summary

Problems solved by technology

In 3D point cloud registration, the mismatching points in the feature matching process will lead to inaccurate matching point sets, which will make the final calculated transformation matrix deviate

[0004] To sum up, the current indoor 3D scene reconstruction method relies heavily on the initial position of the point cloud during point cloud registration, resulting in a decrease in accuracy

However, the later optimization method uses the loopback comparison between multi-frame point clouds, which increases the difficulty of calculation and reduces the real-time performance of 3D reconstruction.

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