基于光线碰撞检测的轻量化实时三维重建系统
Lightweight Real-Time 3D Reconstruction System Based on Light Collision Detection
摘要
Abstract
When small robots perform real-time positioning and mapping in complex environments,there are prob-lems such as insufficient computing resources of the onboard CPU(Central Processing Unit),poor mapping accuracy,and low exploration efficiency.This paper proposes a real-time 3D reconstruction method based on simultaneous localization and mapping(SLAM)and truncated signed distance function(TSDF).This method obtains the RGB(Red Green Blue)im-age and depth image of the reconstructed target and scene based on a depth camera or a binocular camera,and obtains the pose information based on ORB_SLAM2.The surface reconstruction algorithm TSDF based on feature point cloud data is combined with the depth map to achieve a real-time 3D scene reconstruction.In order to reduce the error between the 3D re-constructed model and the real scene,a method of fusing feature points using light collision detection is proposed,and the error between the light projection distance and the distance from the voxel to the object surface is reduced by combining the optimization strategy.The integrity of the reconstructed scene is guaranteed by the optimized TSDF value.In ASL(Autono-mous Systems Lab)the system is used in an open source dataset of the 3D reconstruction model of the proposed system.Compared with Voxblox,Voxfield and VDBblox,the root mean square error of the system's 3D reconstruction model is re-duced by 55.6%,47.11%and 21.7%respectively.Compared with Voxblox and Voxfield,the system map update rate is in-creased by 9.7%and 12.9%respectively.Finally,the system is used in indoor scene experiments,and the average map up-date rate is 7.35 ms/frame,which verifies the feasibility and effectiveness of the proposed system.关键词
三维重建/TSDF/同时定位与地图构建/ORB_SLAM2/光线碰撞检测Key words
3D reconstruction/TSDF/simultaneous localization and mapping/ORB_SLAM2/ray collision detection分类
信息技术与安全科学引用本文复制引用
陈昌川,丁锡烽,王亦何,孙霞,乔飞..基于光线碰撞检测的轻量化实时三维重建系统[J].电子学报,2024,52(12):4074-4086,13.基金项目
新疆维吾尔自治区重点研发计划(No.2022B01008-3) （No.2022B01008-3）
国家自然科学基金(No.92164203,No.62334006) （No.92164203,No.62334006）
重庆市教委重点项目(No.KJZD-K202301901) （No.KJZD-K202301901）
重庆市科委项目(NO.2023NSCQ-MSX4308) （NO.2023NSCQ-MSX4308）
陕西省重点研发计划(No.2023-YBNY-222) Key Research and Development Program of Xinjiang Uygur Autonomous Region(No.2022B01008-3) （No.2023-YBNY-222）
National Natural Science Foundation of China(No.92164203,No.62334006) （No.92164203,No.62334006）
Science and Technol-ogy Research Project of Chongqing Education Commission under Grant(No.KJZD-K202301901) （No.KJZD-K202301901）
General Projects of Chongqing Science and Technology Commission under Grant(No.2023NSCQ-MSX4308) （No.2023NSCQ-MSX4308）
Key Research and Development Program of Shaanxi Province(No.2023-YBNY-222) （No.2023-YBNY-222）
