FAST ALGORITHM FOR ONLINE CALIBRATION OF RGB-D CAMERA

摘要

The present invention provides a method of producing a 3-dimensional model of a scene.

主权项

1. A method of producing a 3-dimensional model of a scene comprising the steps of:
a) providing a source data having at least one pair of RGB and depth images taken at the same moment in time; b) calibrating by aligning edges in the depth image with the edges in the RGB image; c) conducting visual odometry and sparse bundle adjustment from the source data to generate a joint point cloud; d) conducting a mesh reconstruction from the joint point cloud to produce a surface representation; and e) generating a texture blending from the surface representation to produce the 3-dimensional model of a scene.