The invention discloses a small-sized polarization three-dimensional imaging method and device in a complex illumination environment, and the method comprises the steps: constructing a small-sized polarization three-dimensional imaging device and a measurement model in the complex illumination environment, enabling a visible light camera and a polarization camera to be coaxially designed, and synchronously achieving the spatial
single polarization and stereoscopic vision, namely, two types of new three-dimensional imaging
modes; through polarization three-dimensional dense reconstruction and stereoscopic vision reconstruction data, the
azimuth ambiguity in the polarization dense reconstruction process is removed and the
zenith angle is corrected through re-projection error minimization, so that the polarization three-dimensional reconstruction precision is improved; the polarized three-dimensional dense
point cloud is converted to a camera coordinate
system based on stereoscopic vision reconstruction three-dimensional
point cloud, and accurate data is provided for three-dimensional reconstruction or
pose measurement and other applications. The method is suitable for realizing small-sized polarization three-dimensional imaging in a complex illumination environment, has the advantages of
interference resistance, high precision, high speed and the like, and has important significance in ensuring three-dimensional dense imaging, positioning /
attitude determination and the like in the fields of
aerospace and the like in the complex illumination environment.