Platinum Intellectual Property LLP
Method and apparatus of scene reconstruction
A method of scene reconstruction includes: a depth image taken by a camera mounted on a robot is acquired, and a current tensor field key frame is generated based on the depth image; spatial-temporal interpolation is performed on the current tensor field key frame and a previous tensor field key frame to obtain an interpolated tensor field key frame; a robot planning path is acquired by particle advection algorithm according to the current tensor field key frame, the previous tensor field key frame, and the interpolated tensor field key frame; a camera planning path is acquired according to the robot planning path and an energy equation of the camera; and a scene is reconstructed according to the depth images captured by the camera.
SHENZHEN UNIVERSITY
B B G G G G B G Y G
B25J B25J G06T G05D G05D G06T B25J G06T Y10S G05D
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Kai Hui
Xu Huang