Research on Target 3D Reconstruction and Measurement Technology based on Binocular Vision and Lidar

Abstract

At present, the research on target 3D reconstruction and pose measurement is hot issue in the field of computer vision. This paper proposes a method of target 3D reconstruction and pose measurement. It is considered that the 3D information of scene can be recovered by using the visible binocular camera according to the geometric relationship of corresponding points between images. The amount of information is large and the details are rich. However, due to the image as the input data, it brings sensitivity to the change of environmental light Sense, the weak texture region is difficult to match. Lidar can directly measure the three-dimensional information of the scene by emitting laser, which has the advantages of accurate measurement and little influence by external environment changes, but it has the disadvantages of sparse data and low scanning frequency. Based on the characteristics of binocular camera and lidar, aiming at the 3D reconstruction and pose measurement of the target, this paper studies the 3D structure restoration method of the spatial target based on lidar and visible light, and studies the pose measurement method by identifying the typical features of the target, so as to provide a solution for the 3D reconstruction and measurement of the object.