Three-dimensional reconstruction method and apparatus

Abstract

A three-dimensional reconstruction method, comprising: performing slide calculation on an acquired current image frame to obtain to-be-processed windows; performing point feature extraction and line feature extraction on the to-be-processed windows, and determining corresponding features in each to-be-processed window; performing iterative quadtree splitting for circles on each target to-be-processed window to obtain circular regions of interest corresponding to each target to-be-processed window; performing feature screening on features in the target circular regions of interest to obtain target features corresponding to each target circular region of interest; and performing three-dimensional reconstruction corresponding to the current image frame by using the target features. By introducing line features in the feature extraction stage of three-dimensional reconstruction, the line segment features in the three-dimensional reconstruction scenes can be better perceived, and the reconstruction efficiency of simple regular three-dimensional models can be accelerated.