Research On 3D Reconstruction Of Different Concaves In Object Based On Image Of RGBD Camera

3D reconstruction is a technology which uses various sensors to collect image data and with mathematical methods to restore the image data to the real world threedimensional model which coordinate system is visual and actionable.The study of 3D reconstruction technology has become a hotspot in computer vision.Traditional 3D reconstructions are based on RGB images,but this approach has the disadvantages of low efficiency and high cost.Due to the low cost and other advantages,3D reconstruction based on RGBD camera attract more and more attention by academe.There are few studies and many difficulties on the reconstruction of the concave surface in the three-dimensional reconstruction.Through the study of the reconstruction process of point cloud,combined with the key steps of 3D reconstruction,this paper studies the reconstruction of surface irregularity of objects based on RGBD camera and focuses on the registration of scattered cloud and the cut of point cloud.Then processing the concave point cloud precisely,which improves the smoothness and accuracy of concave reconstruction.In this paper,we improved the reconstruction of the surface from the follow aspects.First,the registration of point cloud is the basis of many operations in 3D reconstruction,and feature-based point cloud registration is the focus of registration research.Based on the three-dimensional point cloud feature,a kind of improved method based on FPFH feature rough matching has taken in this paper.Second,this paper applies the method of point cloud segmentation and point cloud concavity and convexity based on super-clustering to the pretreatment of the depression reconstruction.The experimental results show that this method can better realize the clustering of point cloud and the concavity and convexity of point cloud.At last,a process of point cloud preprocessing and reconstruction based on point cloud concavity proposed in the point cloud reconstruction part,which further preprocess the point cloud concave surface based on concavity and convexity to improve the precision of reconstruction and lay the foundation for the further study of concave reconstruction.