Flower 3D reconstruction method based on ORB and U-net
A 3D reconstruction and flower technology, applied in the field of 3D reconstruction, can solve problems such as inability to reconstruct, hollow reconstruction model, easy loss of camera pose, etc., to achieve the effect of saving time and improving accuracy
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[0033] The present invention utilizes the U-net convolutional neural network to train the TSDF voxel model data obtained by scanning the depth camera, completes the completion of the 3D model through the completion of the TSDF voxel data, and innovatively uses U- The combination of net network and 3D reconstruction is used to solve the problem of 3D reconstruction of flowers with serious occlusion. Due to the small amount of data in the 3D data sets of flowers, U-net can show that when targeting smaller training data sets Great advantage. The data set used in the training comes from a large number of flower models modeled in Maya, that is, groundtruth. By simulating the scanning trajectory of the camera, part of the TSDF data of the flower model can be obtained as the input of the network. At the same time, in the 3D reconstruction part of the depth camera, global pose optimization, loop detection and loop closure are added on the basis of kinectfusion, and a relocation soluti...
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