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3-DIMENSIONAL RECONSTRUCTION METHOD, 3-DIMENSIONAL RECONSTRUCTION DEVICE, AND STORAGE MEDIUM
3-DIMENSIONAL RECONSTRUCTION METHOD, 3-DIMENSIONAL RECONSTRUCTION DEVICE, AND STORAGE MEDIUM
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机译:三维重建方法,三维重建装置和存储介质
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摘要
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.
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