3-D reconstruction of textureless and high-reflective target by polarization and binocular stereo vision

For high reflective targets with smooth surface, single or even none texture, a large area of data void may appear on the reconstruction surface since the traditional three-dimensional reconstruction method depending on texture and reflective characteristic. While three-dimensional reconstruction method based on polarization vision does not rely on the texture information on the surface of objects, the polarization imaging can restrain highlight to a certain extent, which can effectively solve the problems existing in the traditional three-dimensional reconstruction method. However, the depth information obtained by three-dimensional reconstruction method based on polarization vision is under pixel coordinates. Therefore, polarization and binocular three-dimensional reconstruction method was put forward. Taking absolute three-dimensional coordinate of a few feature points obtained by binocular stereo vision as the “bridge”, combined with the camera parameters obtained by binocular calibration, the point cloud data acquired by polarization in image pixel coordinates can be transformed into absolute data in world coordinates.