The invention provides a three-dimensional reconstruction and semantic segmentation method for an indoor scene of an Android mobile terminal. The method comprises the steps of completing the parallelcomputing of an ICP part, a voxel model fusion part and a ray tracing algorithm part in three-dimensional reconstruction through a Renderscript framework of Android; adopting an IMU device of a mobileterminal for collecting the angular velocity and the acceleration to obtain initial camera attitude change estimation between two frames, and achieving the quick three-dimensional reconstruction. A lightweight two-dimensional indoor scene semantic segmentation CNN network is designed, and a semantic segmentation result is mapped to a three-dimensional voxel space according to a camera attitude calculated in three-dimensional reconstruction, so that voxel-level semantic segmentation of a three-dimensional reconstruction model of a mobile terminal is completed. Since only the two-dimensional CNN is used, the parameters of the whole network model are greatly reduced. The semantic segmentation deep learning framework can be conveniently placed on common Android equipment, so that a whole setof Android mobile terminal three-dimensional reconstruction and semantic segmentation solution is realized.
Three-dimensional reconstruction and semantic segmentation method for indoor scene of Android mobile terminal