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Scene reconstruction method and device, computer equipment, and computer storage medium

A technology of scene reconstruction and computer program, applied in the field of image processing, can solve the problem of small space and achieve the effect of smooth path

Active Publication Date: 2018-01-19
SHENZHEN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Based on this, it is necessary to provide a scene reconstruction method, device, computer equipment and computer storage medium for the problem that the space for scene reconstruction in the traditional technology is small

Method used

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  • Scene reconstruction method and device, computer equipment, and computer storage medium
  • Scene reconstruction method and device, computer equipment, and computer storage medium
  • Scene reconstruction method and device, computer equipment, and computer storage medium

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Embodiment Construction

[0081] In order to make the objectives, technical solutions and advantages of the present invention clearer, the following further describes the present invention in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention.

[0082] In this article, relational terms such as left and right, up and down, front and back, first and second are only used to distinguish one entity or action from another entity or action, and do not necessarily require or imply such Any actual such relationship or sequence between entities or actions. The terms "including", "including" or any other variants are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes these elements, but also includes other elements not explicitly listed. Elements, or elements i...

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Abstract

The invention relates to a scene reconstruction method and device, computer equipment, and a computer storage medium. The method comprises the steps: obtaining a photographed depth image, and generating a current tensor field key frame according to the depth image; carrying out the spatial and temporal interpolation of the current tensor field key frame and a former tensor field key frame, and obtaining an interpolation tensor field key frame; obtaining a robot planning path through a particle drift algorithm; obtaining a camera planning path according to the robot planning path and an energyequation of a camera; and reconstructing a scene through the depth images collected when a robot walks along the robot planning path and the camera walks along the camera planning path. According to the invention, the camera planning path is obtained through the robot planning path and the energy equation of the camera, thereby achieving a purpose of enabling the robot which holds the camera to carry out the exploration and reconstruction of a complex scene at the same time.

Description

Technical field [0001] The present invention relates to the field of image processing, in particular to a scene reconstruction method, device, computer equipment and computer storage medium. Background technique [0002] With the recent popularity of low-cost RGB-D cameras (Red-Green-Blue-Depth Camera) and the development of real-time reconstruction technology, the problem of automatic indoor scene reconstruction based on mobile robots has attracted attention in the field of robotics and graphics. It is with the development of these technologies that we can explore and reconstruct larger and more complex scenes, and have a wide range of applications in many fields, such as virtual reality, games, movies, service robots and autonomous driving. [0003] In the work of scene reconstruction in traditional technology, only a single object is scanned, or a fixed camera is used for scene exploration, so that the space size of the scene that can be reconstructed is limited. Summary of the...

Claims

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Application Information

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IPC IPC(8): G06T17/00G06T19/00G06T7/593
CPCY10S901/01G06T7/50G06T2207/10028G06T2207/10024B25J9/1664B25J9/1697G05D1/0094G05D1/0246B25J19/023
Inventor 黄惠徐凯
Owner SHENZHEN UNIV
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