公开(公告)号：US20210110576A1

公开(公告)日：2021-04-15

申请号：US17036457

申请日：2020-09-29

Applicant: TSINGHUA UNIVERSITY

Inventor： Lu Fang ,  Dawei Zhong ,  Qionghai Dai

IPC: G06T7/80 ,  G06T15/10 ,  G06T7/246

Abstract: The disclosure provides 3D reconstruction methods and devices. The method includes: obtaining data captured by the camera and data captured by the inertial measurement unit; obtaining a pose of the camera based on the data; obtaining an adjustment value of the pose of the camera and an adjustment value of bias of the inertial measurement unit; updating the pose of the camera based on the adjustment value of the pose of the camera; determining whether the adjustment value of bias of the inertial measurement unit is less than a preset value; in response to the adjustment value of bias of the inertial measurement unit being greater than or equal to the preset value, determining that a current loop for 3-dimensional reconstruction is an error loop; removing the error loop; and constructing a 3-dimensional model for surroundings of the camera based on the updated pose of the camera and remaining loops.

公开(公告)号：US11514607B2

公开(公告)日：2022-11-29

申请号：US17036457

申请日：2020-09-29

Applicant: TSINGHUA UNIVERSITY

Inventor： Lu Fang ,  Dawei Zhong ,  Qionghai Dai

IPC: G06T7/80 ,  G06T7/246 ,  G06T15/10

Abstract: The disclosure provides 3D reconstruction methods and devices. The method includes: obtaining data captured by the camera and data captured by the inertial measurement unit; obtaining a pose of the camera based on the data; obtaining an adjustment value of the pose of the camera and an adjustment value of bias of the inertial measurement unit; updating the pose of the camera based on the adjustment value of the pose of the camera; determining whether the adjustment value of bias of the inertial measurement unit is less than a preset value; in response to the adjustment value of bias of the inertial measurement unit being greater than or equal to the preset value, determining that a current loop for 3-dimensional reconstruction is an error loop; removing the error loop; and constructing a 3-dimensional model for surroundings of the camera based on the updated pose of the camera and remaining loops.