Three-dimensional image acquisition method and device, three-dimensional image positioning method and device, equipment and storage medium

Abstract

The embodiment of the invention discloses a three-dimensional image acquisition method and device, a three-dimensional image positioning method and device, equipment and a storage medium. The three-dimensional image acquisition method comprises the steps of acquiring a target two-dimensional image and point cloud data corresponding to the target two-dimensional image; endowing three-dimensional image points in the point cloud data with the feature vectors of the two-dimensional image points in the target two-dimensional image according to a coordinate corresponding relation between the three-dimensional coordinates corresponding to the point cloud data acquisition equipment and the two-dimensional coordinates corresponding to the target two-dimensional image acquisition equipment; and obtaining a three-dimensional scene image corresponding to the target two-dimensional image according to the three-dimensional image points with the feature vectors in the point cloud data. According to the technical scheme provided by the embodiment of the invention, the scene reconstruction accuracy based on the two-dimensional image is improved; accurate three-dimensional reconstruction can be carried out on a large-scale scene, almost no scale difference exists between a three-dimensional image obtained through reconstruction and a real scene, and the shooting equipment attitude correspondingto the two-dimensional image can be simply, conveniently and rapidly obtained through a small calculation amount.

Description

technical field [0001] Embodiments of the present invention relate to a three-dimensional scene reconstruction technology, and in particular, to a method, device, device, and storage medium for acquiring and positioning a three-dimensional image. Background technique [0002] Vision-based 3D reconstruction refers to obtaining a 2D image of an object in a scene through a camera, analyzing and processing the 2D image, and combining computer vision knowledge to derive a 3D image of the scene. [0003] In the prior art, the three-dimensional scene reconstruction is generally implemented by using SFM (structure from motion, structure from motion) technology. The reconstruction process is generally as follows: first obtain multiple 2D images corresponding to the scene to be reconstructed, and then perform feature extraction and feature matching operations on all 2D images to determine the distance between the 2D image points and 3D image points in the 2D images. Matching relation...

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Problems solved by technology

[0004] In the process of implementing the present invention, the inventor found that the existing technology has the following defects: there are accumulated errors in the process of reconstructing the 3D scene through SFM technology, which makes the accuracy of the reconstructed 3D scene lower, and it is more difficult to analyze large-scale scenes. In addition, the process of feature extraction is cumbersome, time-consuming, computationally intensive, and needs to be supported by high-performance hardware

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