公开(公告)号：US20210074012A1

公开(公告)日：2021-03-11

申请号：US16975242

申请日：2019-04-23

Applicant: Tsinghua University

Inventor： Lu Fang ,  Mengqi Ji ,  Yebin Liu ,  Lan Xu ,  Wei Cheng ,  Qionghai Dai

IPC: G06T7/593 ,  G06T7/292 ,  G06T17/00 ,  G06K9/00 ,  B64C39/02

Abstract: Provided are a three-dimensional reconstruction method, apparatus and system of a dynamic scene, a server and a medium. The method includes: acquiring multiple continuous depth image sequences of the dynamic scene, where the multiple continuous depth image sequences are captured by an array of drones equipped with depth cameras; fusing the multiple continuous depth image sequences to establish a three-dimensional reconstruction model of the dynamic scene; obtaining target observation points of the array of drones through calculation according to the three-dimensional reconstruction model and current poses of the array of drones; and instructing the array of drones to move to the target observation points to capture, and updating the three-dimensional reconstruction model according to multiple continuous depth image sequences captured by the array of drones at the target observation points.

公开(公告)号：US11954870B2

公开(公告)日：2024-04-09

申请号：US16975242

申请日：2019-04-23

Applicant: Tsinghua University

Inventor： Lu Fang ,  Mengqi Ji ,  Yebin Liu ,  Lan Xu ,  Wei Cheng ,  Qionghai Dai

IPC: G06T7/593 ,  B64C39/02 ,  B64U101/30 ,  G06T7/292 ,  G06T17/00 ,  G06V10/80 ,  G06V20/13 ,  G06V20/17 ,  G06V20/64

CPC classification number: G06T7/292 ,  B64C39/024 ,  G06T7/593 ,  G06T17/00 ,  G06V10/803 ,  G06V20/13 ,  G06V20/17 ,  G06V20/653 ,  B64U2101/30 ,  G06T2207/10028 ,  G06T2207/20221

Abstract: Provided are a three-dimensional reconstruction method, apparatus and system of a dynamic scene, a server and a medium. The method includes: acquiring multiple continuous depth image sequences of the dynamic scene, where the multiple continuous depth image sequences are captured by an array of drones equipped with depth cameras; fusing the multiple continuous depth image sequences to establish a three-dimensional reconstruction model of the dynamic scene; obtaining target observation points of the array of drones through calculation according to the three-dimensional reconstruction model and current poses of the array of drones; and instructing the array of drones to move to the target observation points to capture, and updating the three-dimensional reconstruction model according to multiple continuous depth image sequences captured by the array of drones at the target observation points.