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Outdoor 3D reconstruction method based on multi-line laser and binocular vision ?

机译：基于多线激光和双筒望远镜的室外3D重建方法 ？

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Three-dimensional (3D) reconstruction of substation fittings is of great significance for live working robots. However, the key problem is that active 3D cameras cannot work in outdoor strong light environment, and the passive 3D cameras cannot extract features of weak texture targets. This paper proposes an outdoor 3D reconstruction method based on multi-line laser and binocular vision. To solve the problem that weak texture target has few features, we use multi-line laser to create artificial features. To reduce the interference of natural light on the laser in the images, the frame-difference method is proposed for natural light filtering. Then we use the gray-centroid method to position the multi-line laser accurately. Finally, the binocular vision model is used to complete 3D reconstruction of the target. The experiments show that, compared with traditional 3D reconstruction methods, our 3D reconstruction method can realize 3D reconstruction of outdoor weak texture targets effectively.
机译：变电站配件的三维（3D）重建对于现场工作机器人来说具有重要意义。然而，关键问题是，有源3D摄像机不能在室外强光环境中工作，并且被动3D摄像机不能提取弱纹理目标的特征。本文提出了一种基于多线激光和双目视觉的室外三维重建方法。为了解决纹理目标弱功能的问题，我们使用多线激光来创造人工特征。为了减少图像中激光器上的自然光的干扰，提出了用于自然光学滤波的帧差异方法。然后我们使用灰色质心方法准确地定位多线激光器。最后，双目视觉模型用于完成目标的3D重建。实验表明，与传统的三维重建方法相比，我们的3D重建方法有效地实现了户外弱纹理目标的3D重建。

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