模式识别与人工智能
Friday, Apr. 4, 2025 Home      About Journal      Editorial Board      Instructions      Ethics Statement      Contact Us                   中文
  2018, Vol. 31 Issue (5): 477-484    DOI: 10.16451/j.cnki.issn1003-6059.201805010
Researches and Applications Current Issue| Next Issue| Archive| Adv Search |
Large Scene Dense 3D Reconstruction System Based on Semi-direct SLAM Method
XU Haonan1, YU Lei1, FEI Shumin2
1.School of Mechanical and Electric Engineering, Soochow University, Suzhou 215021
2.School of Automation, Southeast University, Nanjing 210096

Download: PDF (1052 KB)   HTML (1 KB) 
Export: BibTeX | EndNote (RIS)      
Abstract  The 3D reconstruction system is mostly based on the simultaneous localization and mapping(SLAM) system of the feature point method and the direct method. The SLAM of feature point method cannot obtain good reconstruction results in the absence of feature points, while the SLAM of direct method has difficulty in estimating the pose with a fast-moving camera, and consequently, reconstruction results are unsatisfactory. To solve these problems, a dense 3D scene reconstruction system with a depth camera (RGB-D camera) based on semi-direct SLAM is proposed in this paper. The feature point method is exploited to estimate the camera pose in feature-rich areas. In the area of missing feature points, the direct method is utilized to estimate the pose of the camera. Then, the three-dimensional map is constructed by the optimized camera pose. The furfel model and the deformation map are utilized to estimate the pose of the point cloud and fuse point cloud. Finally, the ideal 3D reconstruction model is obtained. Experiments show that the system can be applied to all three-dimensional reconstruction of various occasions and acquire the ideal three-dimensional reconstruction model.
Key wordsSimultaneous Localization and Mapping(SLAM)      Simultaneous Localization and Mapping(SLAM)      Depth Camera      Depth Camera      Bundle Adjustment      Bundle Adjustment      Semi-direct Method      Semi-direct Method     
Received: 02 January 2018     
ZTFLH: TP 391  
About author:: XU Haonan, master student. His research interests include visual SLAM and 3D reconstruction.
YU Lei, Ph.D., associate professor. His research interests include artificial intelligence and 3D reconstruction.
FEI Shumin, Ph.D., professor. His research interests include artificial intelligence and nonlinear system.
Service
E-mail this article
Add to my bookshelf
Add to citation manager
E-mail Alert
RSS
Articles by authors
XU Haonan
XU Haonan
YU Lei
YU Lei
FEI Shumin
FEI Shumin
Cite this article:   
XU Haonan,XU Haonan,YU Lei等. Large Scene Dense 3D Reconstruction System Based on Semi-direct SLAM Method[J]. , 2018, 31(5): 477-484.
URL:  
http://manu46.magtech.com.cn/Jweb_prai/EN/10.16451/j.cnki.issn1003-6059.201805010      OR     http://manu46.magtech.com.cn/Jweb_prai/EN/Y2018/V31/I5/477
Copyright © 2010 Editorial Office of Pattern Recognition and Artificial Intelligence
Address: No.350 Shushanhu Road, Hefei, Anhui Province, P.R. China Tel: 0551-65591176 Fax:0551-65591176 Email: bjb@iim.ac.cn
Supported by Beijing Magtech  Email:support@magtech.com.cn