Method for 2D-3D Registration under Inverse Depth and Structural Semantic Constraints for Digital Twin City

A digital twin city maps a virtual three-dimensional (3D) city model to the geographic information system, constructs a virtual world, and integrates real sensor data to achieve the purpose of virtual–real fusion. Focusing on the accuracy problem of vision sensor registration in the virtual digital twin city scene, this study proposes a 2D-3D registration method under inverse depth and structural semantic constraints. First, perspective and inverse depth images of the virtual scene were obtained by using perspective view and inverse-depth nascent technology, and then the structural semantic features were extracted by the two-line minimal solution set method. A simultaneous matching and pose estimation method under inverse depth and structural semantic constraints was proposed to achieve the 2D-3D registration of real images and virtual scenes. The experimental results show that the proposed method can effectively optimize the initial vision sensor pose and achieve high-precision registration in the digital twin scene, and the Z-coordinate error is reduced by 45%. An application experiment of monocular image multi-object spatial positioning was designed, which proved the practicability of this method, and the influence of model data error on registration accuracy was analyzed.