The invention provides a static scene reconstruction method and apparatus, an electronic device and a storage medium. The method comprises the steps of generating a point cloud map and a semantic map corresponding to a target static scene based on a field image set corresponding to the target static scene; optimizing a preset three-dimensional reconstruction algorithm based on the key frame image in the field image set and the point cloud map, and rendering the key frame image by using the optimized three-dimensional reconstruction algorithm to obtain a rendered key frame image; pixels and point clouds corresponding to the road part in the target static scene are obtained based on the rendered key frame image and the semantic map, road scene three-dimensional representation corresponding to the target static scene is generated based on the pixels and the point clouds corresponding to the road part, and road information can be directly extracted based on the semantic map for static road reconstruction. Textures consistent with a real scene are extracted through semantics, a point cloud map and a three-dimensional reconstruction algorithm, and the problems that a road scene reconstruction process is long in time consumption and a reconstructed road is poor in sense of reality are solved.
本申请提供了一种静态场景重建方法、装置、电子设备及存储介质,该方法通过基于目标静态场景对应的现场图像集合生成目标静态场景对应的点云地图和语义地图;基于现场图像集合中的关键帧图像及点云地图对预设三维重建算法进行优化,并利用优化后的三维重建算法对关键帧图像进行渲染得到渲染后的关键帧图像;基于渲染后的关键帧图像及语义地图获取目标静态场景中道路部分对应的像素及点云,并基于道路部分对应的像素及点云生成目标静态场景对应的道路场景三维表示,能够基于语义地图直接提取道路信息用于静态道路重建,通过语义、点云地图和三维重建算法提取与真实场景一致的纹理,解决道路场景重建过程耗时长、重建得到的道路真实感差的问题。
Static scene reconstruction method and device, electronic equipment and storage medium
静态场景重建方法、装置、电子设备及存储介质
2025-03-21
Patent
Electronic Resource
Chinese
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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