The invention relates to a
monocular real-time three-dimensional
reconstruction method based on loop testing, and belongs to the technical field of three-dimensional reconstruction. The method comprises: carrying out pairwise matching in an
image sequence of a specified scene on the basis of an image
feature point matching theory to obtain
image matching point pairs; solving an
essential matrix, and then utilizing a singular-value
decomposition theory to acquire an initial
pose; utilizing the initial
pose or a previous-frame
pose to obtain an estimated pose through a
pose tracking model; judging whether a current frame is a
key frame; then utilizing a random
fern algorithm to calculate similarity of the current frame and the
key frame, and if the similarity reaches a threshold value, it isconsidered that a loop is formed; utilizing a pose of the
key frame to optimize the current pose if the loop is formed; utilizing the above-obtained pose to obtain a
point cloud, and fusing the sameinto a TSDF global-model; and adopting a light
ray projection
algorithm to visualize a surface. According to the method, accuracy of the acquired pose is enabled to be high, the cumulative-error problem in three-dimensional-reconstruction processes is eliminated, and a real-time reconstruction result has higher accuracy.