改进空间体素融合方法及其在线重建.docVIP

改进空间体素融合方法及其在线重建 　　摘 要：目前，随着深度传感器的更新发展，使得三维重建的在线方法得以实现.在线重建的难点在于如何能够在保证较好的重建效果和重建规模的前提下，实时地将多个动态重叠深度图转化成一个三维模型.针对这一问题，本文算法基于空间索引策略构建了一种存取高效的空间体素数据结构，改进了传统体积融合方法中的规则分层网格数据结构，对隐含表面数据进行实时存取与更新的同时，实现大尺度的在线三维重建.这些表面数据仅在观测时存储，并且高效地流入和流出索引表，实现了传感器运动过程中的在线场景重建.算法通过在GPU（Graphics Processing Pipeline）上完成深度图预处理，摄像姿态估计，深度图融合和表面绘制几个核心阶段，实现对细粒度的细节和大尺度的环境进行交互式实时重建.通过实验表明，改进后的重建系统能够在保证重建质量与重建性能的同?r，平均重建时间为21.6 ms，ICP姿态估计15次，用时8.0 ms，平均帧绘制速率提高13.3%，实现了对大尺度场景的实时三维重建. 　　关键词：在线； 空间索引； 数据结构； GPU； 实时重建 　　中图分类号：TP391.41文献标志码：A 　　Abstract：At present， with the development of the depth sensor， the on-line method of 3D reconstruction is realized. The difficulty of the online reconstruction is how to convert multiple dynamic overlapping depth maps into a three-dimensional model in real time under the premise of better reconstruction effect and reconstruction scale. To solve this problem， this paper constructed an efficient spatial voxel data structure based on the spatial index strategy， improving the hierarchical grid data structure of the traditional volume fusion method and realizing the real-time access to the hidden surface data. These surface data are only stored during the observation to achieve the sensor movement in the process of online scene reconstruction. The algorithm performs interactive real-time reconstruction of fine-grained detail and large-scale environment by completing several core stages， such as depth map preprocessing， camera pose estimation， depth map fusion and surface rendering， on the GPU （Graphics Processing Pipeline）. The experimental results show that the average reconstruction time is 21.6 ms， the ICP pose estimation is 15 times， and the average frame rendering rate is increased by 13.3% when the reconstruction time is 8.0 ms and the reconstruction time is 21.6 ms， realizing the real - time 3D reconstruction of large scale scenes. 　　Key words：online； spatial index； data structure； GPU； real-time reconstruction 　　三维重建是计算机视觉与图形学的重要研究领域，随着深度摄像机的广泛使用，使得三维重建获得