The invention discloses an indoor environment
reconstruction method based on a
monocular camera, and the method comprises the steps: shooting indoor photos at different angles and positions through the
monocular camera, extracting the characteristics of each image through a Harris
corner detection algorithm, and obtaining the
characteristic point of each image; performing
feature point matching onany two pictures with similar shooting positions to obtain a matched feature
point pair set of all the images; due to the fact that mismatching feature point pairs exist in matching, mismatching feature point pairs in the matching feature
point pair set are eliminated; through a motion
inference structure SFM, reconstructing a sparse
point cloud for the photo with the mismatching feature
point pair eliminated; carrying out dense
point cloud reconstruction on the sparse
point cloud, reconstructing all point clouds in the scene, and recovering the indoor scene environment. According to the method, the complexity of a common
feature extraction method is reduced through a
feature extraction algorithm with higher speed,
feature point matching is carried out through a kd tree, sparse three-dimensional point cloud is reconstructed according to a
geometric method, and a better reconstruction effect is realized through a dense
reconstruction algorithm in the later period.