Method and system for 3D reconstruction of indoor complete scene based on depth camera

Abstract

The invention discloses a method and system for performing three-dimensional reconstruction of an indoor complete scene based on a consumer-level depth camera. The method comprises: a depth image is obtained and adaptive bilateral filtering is carried out on the depth image; with the filtered depth image, visual odometer estimation is carried out, segmentation is carried out on an image sequence automatically based on a visual content, and closed-loop detection is carried out between segments, and global optimization is carried out; and according to the optimized camera trajectory information, weighted volume data fusion is carried out to reconstruct a three-dimensional model of an indoor complete scene. According to the method and system disclosed by the invention, edge keeping and denoising of a depth image are carried out by using an adaptive dual-side filter algorithm; because of the automatic segmentation algorithm based on a visual content, an accumulation error in visual odometer estimation can be reduced and the registration precision can be improved; and on the basis of the weighted volume data fusion algorithm, the geometric details at the surface of the object can be kept. Therefore, a technical problem of improving three-dimensional reconstruction precision in an indoor scene can be solved and thus a complete, accurate, and refined indoor scene model can be obtained.

Description

technical field [0001] The present invention relates to the technical field of computer vision, in particular to a method and system for three-dimensional reconstruction of a complete indoor scene based on a consumer-grade depth camera. Background technique [0002] High-precision 3D reconstruction of indoor scenes is one of the challenging research topics in computer vision, involving theories and technologies in many fields such as computer vision, computer graphics, pattern recognition, and optimization. There are many ways to achieve 3D reconstruction. The traditional method is to use laser, radar and other ranging sensors or structured light technology to obtain the structural information of the scene or object surface for 3D reconstruction. However, most of these instruments are expensive and not easy to carry, so the application occasions are limited. . With the development of computer vision technology, researchers began to study the use of pure vision methods for 3...

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Problems solved by technology

[0008] In order to solve the above problems in the prior art, that is, in order to solve the technical problem of how to improve the accuracy of 3D reconstruction in indoor scenes, a method and system for 3D reconstruction of complete indoor scenes based on consumer-grade depth cameras are provided.

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