关键词: ICP, PCL, 全景场景重建, 三维场景重建, 双目视觉

Abstract: In the early three-dimensional scene reconstruction,due to hardware constraints,it can not be very good for the three-dimensional reconstruction of the scene.With the hardware update iteration,at present,the structured light and dual vision system is used for for more efficient three-dimensional scene reconstruction.The hardware platform is built with zed binocular ca-mera and jabao Ad-10 electric cloud platform,and the point cloud information of the scene is obtained through binocular camera.Based on the stereo matching of the global sbgm (semi global block matching) algorithm and the red green blue depth map generation,the single scene cloud reconstruction is carried out,and through the orb feature matching and ICP (iterative closure Point) point cloud registration and fusion can realize panoramic 3D reconstruction of indoor scene.The experiment compares the advantages of binocular stereo vision scene reconstruction in far/near targets,low texture feature targets,glass and other material targets.At the same time,in the three-dimensional scene reconstruction of point cloud,this paper proposes to optimize the point cloud information through sparseness,and compares the reconstruction effect of single acquisition and multiple acquisition.After the experiment,the system can give consideration to the details of scene reconstruction and the display effect under the premise of the eclectic number of times,and it can be used for reference and application value for 3D reconstruction of different scene targets.

Key words: 3D scene reconstruction, Binocular vision, ICP, Panoramic scene reconstruction, PCL