针对基于视觉的室内场景三维重建过程中存在三维点云匹配不准确、过程耗时和深度信息部分缺失的问题,提出一种带有深度约束和局部近邻约束的基于RGB-D的室内场景实时三维重建算法.该算法首先利用RGB-D相机采集到的RGB图像做哈里斯角点检测,再用SURF特征点描述方法对检测到的特征点生成64维特征描述子.接着利用特征点集合的深度信息和局部近邻特征点信息作为约束,初步筛选出相邻帧间正确的匹配点对,再结合随机抽样一致性(RANSAC)算法去除外点,以此得到相机的姿态估计.最后利用RGB-D的深度图像,在图优化方法(g2o)的基础上生成三维点云,实现室内场景的三维重建.实验中,RGB-D摄像头装载在自主移动导航的小车上,实时重构的三维场景验证了所提算法的可行性和准确性.%A novel RGB-D based feature point depth constraint and locality constraint integrated real-time indoor scene 3D reconstruction algorithm is proposed, which focusing to solve problems such as the inaccuracy of 3D point cloud matching, excessive time consuming and the loss of point depth. Firstly, the feature points are detected using Harris point detector, and then labeled with 64 dimensional vector using SURF descriptor. Secondly, the initial correct feature point pairs are selected between the successive frames with the depth information constraint and feature point locality constraint in addition to vector similarity constraint. Thirdly, the outliers are removed and the camera pose is estimated based on the random sample consensus ( RANSAC ) method. Eventually, 3D point clouds are determined using the general graph optimization ( g2o ) facilitating the indoor scene reconstruction. In the experiments, the RGB-D camera is fixed on the automatic guided vehicle to capture the indoor surrounding scenes. Experimental results validate that the proposed approach is feasible and effective.
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