The invention provides a
monocular infrared video three-dimensional
reconstruction method based on a visual
odometer. Firstly, a
thermal infrared imager is calibrated; then, a direct method and sparse method visual
odometer model is constructed; then, frames are managed, a
key frame is generated from a continuous
infrared image sequence to be processed, and the
key frame is marginalized; point management is conducted on the pixel on the
key frame; finally, sliding window optimization is conducted on the key frame, a photometric error of the direct method and sparse method visual
odometer model is minimized, the reverse depths of
thermal infrared imager
pose, internal references and spatial points are solved in an iterative
algorithm by a gauss-newton method, and finally, three-dimensional
point cloud of a scene is obtained. According to the
monocular infrared video three-dimensional
reconstruction method based on the visual odometer, the direct method is applied to photometric error minimization, traditional feature point detection and matching are skipped, through direction operation on a grey value of the pixel, all variables which the photometric error to be optimized depend on is calculated directly, and therefore three-dimensional reconstruction of a
night vision scene is achieved, the real-time capability of the three-dimensional reconstruction is ensured, and the spaciousness of the scene is enhanced.