3D Reconstruction Via The Combination Of ToF And Stereo Vision Techniques

In recent years,computer vision has developed rapidly,and three-dimensional(3D)technology has played an increasingly important role in our lives.At present,several mainstream 3D technology solutions mainly include Binocular Stereo Vision(BSV),Structured Light(SL)and Time-of-Flifgt(ToF)technologies.However,a single technology or a single matching algorithm has its own limitations.Therefore,this paper intends to combine the advantages of BSV and ToF technology,that is,the ToF-Stereo technology method described in this paper,using the fast response characteristics of ToF.The initial depth map,on this basis,guides the BSV to perform fast and dense matching to obtain high-precision,high-resolution three-dimensional depth information.After Census transformation,the Hamming distance and the Absolute Difference(AD)of the center pixel of the window is calculated to be used as matching cost,and then performing semi-global matching(SGM or SGBM).Cost aggregation is performed from 16 directions to approximate a two-dimensional search.After the initial disparity is obtained by the depth map conversion based on the time-of-flight method,the feature matching algorithm with high matching precision is used to obtain the sparse disparity value,which is used as a seed point to correct the initial disparity map to obtain more accurate priori disparity,then constrain and guide the semi-global matching process to get the final disparity map.From the results of this paper,the disparity map based on ToF-Stereo fusion is better than the disparity map obtained by only the binocular matching algorithm,and the disparity can be obtained in the region with insufficient texture features,and the density is increased by one to two times.Compared with the initial disparity map,in the area where the flight time of the light is too short to be measured,the depth information can still be obtained,and the density is increased by five or six times.In addition,the multipath reflection problem existing in the ToF technology can be improved.The results of point cloud fitting experiments show that the ToF-Stereo method is faster,more accurate,and denser than the single ToF or BSV technology.