The application provides a
point cloud reconstruction method based on partition
phase unwrapping overcoming misalignment restriction, and relates to the technical field of
structured light three-dimensional measurement, and comprises the following steps: synchronously collecting a left image set and a right image set by using a binocular camera, respectively solving a stripe order, a reference wrapped phase and a
mask image; determining a first type of crossing point and a second type of crossing point according to the reference wrapped phase; constructing three misaligned wrapped phases with the reference wrapped phase as an intermediate phase, and classifying and calculating the
absolute phase in the stripe order according to the number of the first type of crossing point and the second type of crossing point corresponding to each stripe order value; correcting misaligned points for each row of
absolute phase by using RANSAC
linear fitting; sliding a preset matching window on the left
phase image and the right
phase image pixel by pixel, combining a full-field illumination image, obtaining a disparity map of the left
phase image and the right phase image, and further reconstructing a three-dimensional
point cloud. The application can significantly reduce the problems of flying points and phase jumps, and effectively improve the
point cloud reconstruction quality.