Algorithm 1. The process of the real-time 3D reconstruction method |
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The RGB and Depth images of the scene are collected by the monocular camera. |
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Input RGB to YOLACT++ to obtain the segmented RGB’, 2DM. |
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Input RGB’, 2DM, Depth to VJTR to get . |
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Set , then let and . |
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for Each
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Use Formula (10) to calculate the . |
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for i = 1 to m step do
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Use Formula (11) to calculate the . |
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if () then
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. |
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. |
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end if
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end for
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end for
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for i = 1 to m step do
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if
then
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Add to . |
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else
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Add to . |
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end if
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end for
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for Each
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Use Formulas (12)–(14) to normalize its coordinate values. |
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Add to . |
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end for
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return . |