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.

公开(公告)号：US09472021B2

公开(公告)日：2016-10-18

申请号：US14261807

申请日：2014-04-25

Applicant: Tsinghua University

Inventor： Qionghai Dai ,  Genzhi Ye ,  Yebin Liu

IPC: G06T15/00 ,  G06T17/00 ,  G06T7/00

CPC classification number: G06T17/00 ,  G06T7/55 ,  G06T7/579 ,  G06T2207/10028

Abstract: A method and a system for three-dimensionally reconstructing a non-rigid body based on a multi-depth-map are provided. The method comprises: obtaining a plurality of depth maps by shooting the non-rigid body in different postures and from different angles; transforming each depth map to one group of three-dimensional point clouds and obtaining a plurality of matching point pairs among a plurality of groups of three-dimensional point clouds; conducting a position transformation for each matching point and obtaining a transformation parameter corresponding to the each matching point after the position transformation; mosaicing all transformation parameters to obtain a mosaicing result and constructing an energy function according to the mosaicing result; and solving the energy function to obtain a solution result and reconstructing a three-dimensional model of the non-rigid body according to the solution result.

Abstract translation: 提供了一种基于多深度图的用于三维重建非刚体的方法和系统。 该方法包括：通过以不同姿态和不同角度拍摄非刚体获得多个深度图; 将每个深度图变换成一组三维点云，并在多个三维点云组中获得多个匹配点对; 对每个匹配点进行位置变换，并获得与位置变换之后的每个匹配点对应的变换参数; 镶嵌所有变换参数，以获得镶嵌结果，并根据镶嵌结果构建能量函数; 并求解能量函数以获得解决结果，并根据解决结果重建非刚体的三维模型。

公开(公告)号：US20140320491A1

公开(公告)日：2014-10-30

申请号：US14261807

申请日：2014-04-25

Applicant: Tsinghua University

Inventor： Qionghai Dai ,  Genzhi Ye ,  Yebin Liu

IPC: G06T17/00

CPC classification number: G06T17/00 ,  G06T7/55 ,  G06T7/579 ,  G06T2207/10028

Abstract: A method and a system for three-dimensionally reconstructing a non-rigid body based on a multi-depth-map are provided. The method comprises: obtaining a plurality of depth maps by shooting the non-rigid body in different postures and from different angles; transforming each depth map to one group of three-dimensional point clouds and obtaining a plurality of matching point pairs among a plurality of groups of three-dimensional point clouds; conducting a position transformation for each matching point and obtaining a transformation parameter corresponding to the each matching point after the position transformation; mosaicing all transformation parameters to obtain a mosaicing result and constructing an energy function according to the mosaicing result; and solving the energy function to obtain a solution result and reconstructing a three-dimensional model of the non-rigid body according to the solution result.

Abstract translation: 提供了一种基于多深度图的用于三维重建非刚体的方法和系统。 该方法包括：通过以不同姿态和不同角度拍摄非刚体获得多个深度图; 将每个深度图变换成一组三维点云，并在多个三维点云组中获得多个匹配点对; 对每个匹配点进行位置变换，并获得与位置变换之后的每个匹配点对应的变换参数; 镶嵌所有变换参数，以获得镶嵌结果，并根据镶嵌结果构建能量函数; 并求解能量函数以获得解决结果，并根据解决结果重建非刚体的三维模型。

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.