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Online tracking and dense reconstruction method, system and equipment on mobile equipment

A mobile device, dense technology, applied in the field of online tracking and dense reconstruction, systems and devices on mobile devices, can solve the problem of unrobust camera pose estimation

Active Publication Date: 2018-09-18
INST OF AUTOMATION CHINESE ACAD OF SCI
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  • Abstract
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  • Application Information

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Problems solved by technology

However, none of the above methods can solve the problem of unrobust camera pose estimation in scenes with few geometric features.

Method used

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  • Online tracking and dense reconstruction method, system and equipment on mobile equipment
  • Online tracking and dense reconstruction method, system and equipment on mobile equipment
  • Online tracking and dense reconstruction method, system and equipment on mobile equipment

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Embodiment Construction

[0086] Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principle of the present invention, and are not intended to limit the protection scope of the present invention.

[0087] The present invention adopts a geometrically stable sampling method to select 3D point pairs that can provide sufficient constraints for ICP, making the camera tracking process more robust. In addition, the method of fusion of visual tracking results and IMU information is used, which can robustly track the camera pose and achieve dense 3D reconstruction, especially in scenes with few geometric features. The method has strong robustness and fast calculation speed, and the finally obtained 3D model is reasonable and reliable, and can realize online dense 3D reconstruction on mobile devices.

[0088] figure 1 It is a schematic flowchart ...

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Abstract

The invention relates to a three-dimensional reconstruction method in the field of computer vision, and particularly relates to an on-line tracking and dense reconstruction method, an on-line trackingand dense reconstruction system and on-line tracking and dense reconstruction equipment on mobile equipment. The invention aims to realize the on-line dense three-dimensional reconstruction on the mobile equipment. The three-dimensional reconstruction method comprises the following steps: acquiring a current depth image of a frame, calculating a three-dimensional point and a normal vector of eachpixel point under a camera coordinate system, and calculating a depth noise standard deviation and a gradient graph; selecting a point pair capable of providing enough constraint for an ICP algorithmbased on a geometric stability sampling method, and adopting a visual tracking and IMU information fusion method based on an ICP covariance matrix condition number; after calculating the posture of acamera, fusing a depth map into a TSDF model; carrying out light projection on fused volume data at the calculated posture of the camera so as to obtain a surface point cloud. The method is high in robustness and fast in calculation speed. Meanwhile, based on the method, a finally obtained three-dimensional model is reasonable and reliable.

Description

technical field [0001] The invention relates to a three-dimensional reconstruction method in the field of computer vision, in particular to an online tracking and dense reconstruction method, system and equipment on a mobile device. Background technique [0002] Dense and high-precision 3D reconstruction is one of the important research directions of computer vision, and it has a wide range of applications in robotics and augmented reality. With the popularity of mobile devices such as mobile phones and tablets, it is more and more meaningful to estimate camera poses and construct 3D models of surrounding scenes on mobile devices. Dense online indoor 3D reconstruction on mobile devices opens up many new applications, such as 3D scanning of objects of interest and augmented reality. However, due to the limited computing resources of mobile devices, online dense 3D reconstruction on mobile devices is still an unsolved problem. [0003] Most of the existing real-time dense 3D...

Claims

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Application Information

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IPC IPC(8): G06T17/00G06T15/20G06T7/70
CPCG06T7/70G06T15/205G06T17/00
Inventor 刘养东高伟胡占义
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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