The invention discloses a binocular stereoscopic vision
underwater concrete three-dimensional
reconstruction method based on a two-dimensional
image domain, and belongs to the technical field of binocular stereoscopic vision
underwater concrete three-dimensional reconstruction, and the method comprises the steps: obtaining an
underwater video sequence, extracting a
key frame, and constructing a two-dimensional
time sequence motion model; based on the two-dimensional
time sequence motion model, two-dimensional motion-texture joint denoising is adopted, and an optimized
noise mask image is generated; based on the optimized
noise mask image, establishing a disparity map by adopting a
mask-guided
stereo matching method, and constructing a three-dimensional
point cloud according to the disparity map; and performing
statistical filtering and
voxel rasterization
time sequence frequency screening on the three-dimensional
point cloud to generate a pure underwater concrete three-dimensional
point cloud. The method achieves the core target of'time sequence denoising + detail reservation ', has the advantages of being low in calculation cost, good in real-time performance and suitable for rapid reconstruction of massive underwater video data, solves the problem of resource waste caused by invalid calculation, and remarkably improves the real-time performance of the
algorithm.