US 12,307,699 B2
Three-dimensional reconstruction method and three-dimensional reconstruction apparatus
Hao Wang, Wuhan (CN); and Linlin Zhang, Voorburg (NL)
Assigned to HUAWEI TECHNOLOGIES CO., LTD., Shenzhen (CN)
Filed by Huawei Technologies Co., Ltd., Guangdong (CN)
Filed on Sep. 2, 2022, as Appl. No. 17/902,624.
Application 17/902,624 is a continuation of application No. PCT/CN2021/074094, filed on Jan. 28, 2021.
Prior Publication US 2022/0414911 A1, Dec. 29, 2022
Int. Cl. G06T 7/50 (2017.01); G06T 7/55 (2017.01); G06T 7/73 (2017.01); G06T 17/00 (2006.01); G06T 19/00 (2011.01); G06T 19/20 (2011.01)
CPC G06T 7/55 (2017.01) [G06T 7/75 (2017.01); G06T 19/00 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30244 (2013.01); G06T 2210/56 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A three-dimensional reconstruction method, comprising:
obtaining an image of a first object and a camera pose of the image;
determining a first normalized object location field (NOLF) image of the first object in the image by using a first deep learning network, wherein the first NOLF image indicates a normalized three-dimensional point cloud of the first object at a photographing angle of view of the image;
determining a first relative pose of the first object based on the first NOLF image, wherein the first relative pose is a relative pose between a pose of the first object and the camera pose of the image, wherein the determining the first relative pose of the first object based on the first NOLF image comprises:
determining pixel coordinates of at least four feature points of the first object in the image by using a second deep learning network, wherein four object points indicated by the four feature points are not coplanar in a three-dimensional space;
determining three-dimensional coordinates of the at least four feature points in the first NOLF image; and
determining the first relative pose based on the pixel coordinates and the three- dimensional coordinates of the at least four feature points;
determining a plurality of NOLF images of a plurality of three-dimensional models at an angle of view corresponding to the first relative pose;
determining, from the plurality of three-dimensional models in a model database based on the first NOLF image, a first model corresponding to the first object;
determining the pose of the first object based on the first model and the camera pose of the image; and
performing a three-dimensional reconstruction on the first object in the image based on the first model and the pose of the first object.