公开(公告)号：US20240135578A1

公开(公告)日：2024-04-25

申请号：US17928568

申请日：2021-05-26

Applicant: EWHA UNIVERSITY-INDUSTRY COLLABORATION FOUNDATION

Inventor： Young Jun KIM ,  Kyung Min HAN

IPC: G06T7/73 ,  G06T7/13 ,  G06T7/246 ,  G06T17/00

CPC classification number: G06T7/74 ,  G06T7/13 ,  G06T7/248 ,  G06T17/00 ,  G06T2207/10016 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/30244

Abstract: Disclosed are a method and device for generating a three-dimensional (3D) model through RGB-D camera tracking. A 3D model generation method may comprise the steps of: identifying RGB images and depth images; determining an initial camera pose of an RGB-D camera for each original frame of the depth images and the RGB images; determining a final camera pose for each of the original frames by updating the initial camera pose by using differences between an original frame, transformed according to the initial camera pose, and remaining original frame among two consecutive original frames of the depth images and the RGB images; selecting key vertexes capable of covering all original vertexes among original vertexes; and generating a 3D model by using key-frames, corresponding to the key vertexes in the original frames of the depth images and the RGB images, and final camera poses corresponding to the key-frames.