US 11,954,870 B2
Dynamic scene three-dimensional reconstruction method, apparatus and system, server, and medium
Lu Fang, Shenzhen (CN); Mengqi Ji, Shenzhen (CN); Yebin Liu, Shenzhen (CN); Lan Xu, Shenzhen (CN); Wei Cheng, Shenzhen (CN); and Qionghai Dai, Shenzhen (CN)
Assigned to TSINGHUA UNIVERSITY, Beijing (CN)
Appl. No. 16/975,242
Filed by Tsinghua University, Beijing (CN)
PCT Filed Apr. 23, 2019, PCT No. PCT/CN2019/083816
§ 371(c)(1), (2) Date Nov. 20, 2020,
PCT Pub. No. WO2019/161813, PCT Pub. Date Aug. 29, 2019.
Claims priority of application No. 201810155616.4 (CN), filed on Feb. 23, 2018.
Prior Publication US 2021/0074012 A1, Mar. 11, 2021
Int. Cl. G06T 7/593 (2017.01); B64C 39/02 (2023.01); B64U 101/30 (2023.01); G06T 7/292 (2017.01); G06T 17/00 (2006.01); G06V 10/80 (2022.01); G06V 20/13 (2022.01); G06V 20/17 (2022.01); G06V 20/64 (2022.01)
CPC G06T 7/292 (2017.01) [B64C 39/024 (2013.01); G06T 7/593 (2017.01); G06T 17/00 (2013.01); G06V 10/803 (2022.01); G06V 20/13 (2022.01); G06V 20/17 (2022.01); G06V 20/653 (2022.01); B64U 2101/30 (2023.01); G06T 2207/10028 (2013.01); G06T 2207/20221 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A three-dimensional reconstruction method of a dynamic scene, comprising:
acquiring a plurality of first continuous depth image sequences of the dynamic scene, wherein the plurality of first continuous depth image sequences are captured by an array of drones, wherein each drone is equipped with a depth camera;
fusing the plurality of first continuous depth image sequences to establish a three-dimensional reconstruction model of the dynamic scene;
determining target observation points of the array of drones according to the three-dimensional reconstruction model and current poses of the array of drones; and
instructing the array of drones to move to the target observation points to capture a plurality of second continuous depth image sequences of the dynamic scene, and updating the three-dimensional reconstruction model according to the plurality of second continuous depth image sequences captured by the array of drones at the target observation points.