Method, apparatus, device and computer readable storage medium for reconstructing three-dimensional scene

An apparatus for reconstructing a three-dimensional scene, comprising:

• at least one processor;
• and
• a memory storing instructions, the instructions when executed by the at least one processor, cause the at least one processor to perform operations, the operations comprising:
• acquiring a point cloud data frame set for the three-dimensional scene, point cloud data frames in the point cloud data frame set respectively having a pose parameter;
• determining a subset corresponding to a part of the three-dimensional scene from the point cloud data frame set, comprising:
• determining, based on trajectories corresponding to the point cloud data frame set, a position of an intersection in the three-dimensional scene, comprising:
• performing dilation on a trajectory image comprising the trajectories to determine a line representing a road by dilating trajectories corresponding to the road;
• determining, based on the line, at least one corner point at the intersection;
• and determining the position of the intersection based on the at least one corner point at the intersection;
• forming, based on the position of the intersection, a connection diagram connecting the intersection;
• and
• determining, based on the connection diagram, a closed path as the part of the three-dimensional scene;
• updating the subset by removing data points associated with a dynamic object from point cloud data frames in the subset;
• adjusting a pose parameter of a point cloud data frame in the updated subset to obtain an adjusted subset, the adjusted subset including at least two point cloud data frames having matching overlapping parts;
• and
• updating the point cloud data frame set using the adjusted subset.

A non-transitory computer readable storage medium, storing a computer program, wherein the program, when executed by a processor, causes the processor to perform operations, the operations comprising:

• acquiring a point cloud data frame set for the three-dimensional scene, point cloud data frames in the point cloud data frame set respectively having a pose parameter;
• determining a subset corresponding to a part of the three-dimensional scene from the point cloud data frame set, comprising:
• determining, based on trajectories corresponding to the point cloud data frame set, a position of an intersection in the three-dimensional scene, comprising:
• performing dilation on a trajectory image comprising the trajectories to determine a line representing a road by dilating trajectories corresponding to the road;
• determining, based on the line, at least one corner point at the intersection;
• and determining the position of the intersection based on the at least one corner point at the intersection;
• forming, based on the position of the intersection, a connection diagram connecting the intersection;
• and
• determining, based on the connection diagram, a closed path as the part of the three-dimensional scene;
• updating the subset by removing data points associated with a dynamic object from point cloud data frames in the subset;
• adjusting a pose parameter of a point cloud data frame in the updated subset to obtain an adjusted subset, the adjusted subset including at least two point cloud data frames having matching overlapping parts;
• and
• updating the point cloud data frame set using the adjusted subset.