Simultaneous localization and dense three-dimensional reconstruction method

摘要

A simultaneously localization and dense three-dimensional reconstruction method, being capable of processing rapid motion and frequent closing of a loop in a robust manner, and operating at any time in a large-scale scene. Provided by the method is a key frame-based simultaneous localization and map construction framework. First, depth and color information are used simultaneously, and the framework may operate on central processing unit (CPU) at high speed based on localization of the key frame, and operate in challenging scene in robust manner. To reduce accumulated errors, the method introduces increment bundle adjustment, which may greatly reduce an operation amount and enable local and global bundle adjustment to be completed in a unified framework. Secondly, provided by the method is a key frame-based fusion method, and a model may be generated online and a three-dimensional model may be updated in real time during adjustment of the key frame's pose.