The invention provides an instant dense
reconstruction method for a space target, which comprises the following steps: S1, acquiring an RGB-D image of the space target through a depth camera, converting a
depth map of the image into a corresponding
point cloud, obtaining a three-dimensional coordinate and a normal vector of each point in the
point cloud, initializing the
pose of an adjacent
depth map by using an iterative
nearest point algorithm, and obtaining a three-dimensional coordinate of each point in the
point cloud; surface elements are used for representing a dense model of the space target; s2, by taking
geometric error /
luminosity consistency as a constraint condition, registering the
depth map /
color map of the current frame with the depth map /
color map of the previous frame predicted by the dense model, and estimating the camera attitude at the current moment; s3, encoding the current frame, comparing the current frame with the encoding value of the previous frame stored in the
database, and judging whether to update the
key frame; and judging whether a
closed loop exists in the rolling motion of the space target or not, if so, registering the current frame to the most similar
key frame, and optimizing the dense model by using the deformation graph to eliminate accumulative errors.