1. A three-dimensional reconstruction and visualization method of a stereoscopic image is characterized by comprising the following steps: carrying out single-frame denoising on a spatial domain and a pixel range domain of a three-dimensional image, and carrying out cluster segmentation on the denoised image to obtain a classified image; performing interpolation fitting on the classified images to obtain smooth images of the target object, and acquiring absolute coordinates and point intensity information of each frame of smooth images of the target object; and registering and splicing the multi-frame smooth images of the target object according to the absolute coordinates to obtain a first image, and performing three-dimensional visual color rendering on the first image according to the intensity information of the points to finish three-dimensional reconstruction and visualization of the three-dimensional image.

2. The method for three-dimensional reconstruction and visualization of a stereoscopic image according to claim 1, wherein the single-frame filtering denoising for the spatial domain and the pixel range domain of the stereoscopic image comprises:

BF is image information output after bilateral filtering of p points of the I stereo image; p is the current point;a multidimensional space of p; i is a stereo image;p points for I; q is a point in the neighborhood;a multidimensional space of q; s is a neighborhood set of p;whether it is within the domain set of p;taking a norm;respectively a spatial domain weight and a pixel domain weight;p points for I;is the q point of I.

3. The method for three-dimensional reconstruction and visualization of a stereoscopic image according to claim 2, wherein the clustering segmentation of the denoised image to obtain a classified image comprises: positioning a first point in a space, acquiring a plurality of first points which are at preset distances from the first point, judging the distances from the first points to the first point, and taking the points with the distances smaller than a distance threshold value and the first point as a first point set; and positioning second points in the first point set, acquiring a plurality of second points which are away from the second points by preset distances, judging the distances from the second points to the second points, adding the points with the distances smaller than a distance threshold value and the second points into the first point set, repeating the steps until no new points are added into the first point set, and finishing clustering segmentation on the denoised image.

4. The method for three-dimensional reconstruction and visualization of a stereoscopic image according to claim 3, wherein the registering and stitching of the plurality of frames of smooth images of the object according to the absolute coordinates to obtain the first image comprises: acquiring an overlapped area of a previous frame of target object smooth image and a next frame of target object smooth image, dividing the overlapped area into a first data set and a second data set, respectively acquiring a first control point set of the first data set and a second control point set of the second data set by adopting a back projection method, carrying out iterative registration on the first control point set and the second control point set to obtain a first transformation matrix of the first control point set and a second transformation matrix of the second control point set, transforming the previous frame of image by adopting the first transformation matrix, and transforming the next frame of image by adopting the second transformation matrix to realize registration splicing of the previous frame of target object smooth image and the next frame of target object smooth image to obtain the first image.

5. The method for three-dimensional reconstruction and visualization of a stereoscopic image according to claim 4, wherein the three-dimensional visualization color rendering of the first image according to the intensity information of the point comprises: and performing curved surface reconstruction on the first image, constructing a triangular surface area piece of the three-dimensional surface, and coloring the triangular surface area piece by adopting red, green and blue color rendering based on intensity or color rendering based on normal direction and curvature.

6. The method for three-dimensional reconstruction and visualization of a stereoscopic image according to claim 5, wherein the constructing of the triangular surface segment of the three-dimensional surface comprises: projecting the three-dimensional point to a plane through a normal; and triangularizing the image obtained by projection in a plane area, and topologically connecting three-dimensional points in the plane to obtain a triangular mesh curved surface model.

7. The method of claim 6, wherein the triangularization of the projected image in a planar region to obtain a triangular mesh surface model by topologically connecting three-dimensional points in the plane comprises: selecting a sample triangular plate as an initial curved surface, continuously expanding the boundary of the initial curved surface, determining topological connection among all original three-dimensional points according to the connection relation of projected images, and forming a complete triangular mesh curved surface, wherein the complete triangular mesh curved surface is a triangular mesh curved surface model.

8. An apparatus for three-dimensional reconstruction and visualization of a stereoscopic image, comprising: the first main module is used for carrying out single-frame denoising on a space domain and a pixel range domain of a three-dimensional image and carrying out cluster segmentation on the denoised image to obtain a classified image; the second main module is used for carrying out interpolation fitting on the classified images to obtain smooth images of the target object and acquiring absolute coordinates and point intensity information of each frame of smooth images of the target object; and the third main module is used for registering and splicing the multi-frame smooth images of the target object according to the absolute coordinates to obtain a first image, and performing three-dimensional visual color rendering on the first image according to the intensity information of the points to finish three-dimensional reconstruction and visualization of the three-dimensional image.

9. An electronic device, comprising:

at least one processor, at least one memory, and a communication interface; wherein the content of the first and second substances,

the processor, the memory and the communication interface are communicated with each other;

the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of any of claims 1 to 7.

10. A non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method of any one of claims 1 to 7.

Background

Sonar images in an underwater environment have the problems of low resolution, serious noise interference, multipath phenomenon, side lobe interference, Doppler effect and the like. The original sonar point cloud data generated by the sonar original data collected by the sonar receiving array has the defects of more noise points, more reflection clutter, poor image experience and the like. In addition, when the submarine topography is measured, the traditional beam forming method is adopted, the relation among multiple frames is not clear, so that the data of the multiple frames cannot be spliced, the obtained topographic feature imaging result is rough, and the high-precision mapping requirement cannot be met. Therefore, it is an urgent technical problem in the art to develop a method and apparatus for three-dimensional reconstruction and visualization of a stereoscopic image, which can effectively overcome the above-mentioned drawbacks in the related art.

Disclosure of Invention

In view of the above problems in the prior art, embodiments of the present invention provide a method and an apparatus for three-dimensional reconstruction and visualization of a stereoscopic image.

In a first aspect, an embodiment of the present invention provides a method for three-dimensional reconstruction and visualization of a stereoscopic image, including: carrying out single-frame denoising on a spatial domain and a pixel range domain of a three-dimensional image, and carrying out cluster segmentation on the denoised image to obtain a classified image; performing interpolation fitting on the classified images to obtain smooth images of the target object, and acquiring absolute coordinates and point intensity information of each frame of smooth images of the target object; and registering and splicing the multi-frame smooth images of the target object according to the absolute coordinates to obtain a first image, and performing three-dimensional visual color rendering on the first image according to the intensity information of the points to finish three-dimensional reconstruction and visualization of the three-dimensional image.

On the basis of the content of the above method embodiment, the three-dimensional reconstruction and visualization method for a stereoscopic image provided in the embodiment of the present invention, which performs single-frame filtering and denoising for a spatial domain and a pixel range domain of a stereoscopic image, includes:

BF is image information output after bilateral filtering of p points of the I stereo image; p is the current point;a multidimensional space of p; i is a stereo image;p points for I; q is a point in the neighborhood;a multidimensional space of q; s is a neighborhood set of p;whether it is within the domain set of p;taking a norm;respectively a spatial domain weight and a pixel domain weight;p points for I;is the q point of I.

On the basis of the content of the above method embodiment, the three-dimensional reconstruction and visualization method for a stereo image provided in the embodiment of the present invention, which performs cluster segmentation on a denoised image to obtain a classified image, includes: positioning a first point in a space, acquiring a plurality of first points which are at preset distances from the first point, judging the distances from the first points to the first point, and taking the points with the distances smaller than a distance threshold value and the first point as a first point set; and positioning second points in the first point set, acquiring a plurality of second points which are away from the second points by preset distances, judging the distances from the second points to the second points, adding the points with the distances smaller than a distance threshold value and the second points into the first point set, repeating the steps until no new points are added into the first point set, and finishing clustering segmentation on the denoised image.

On the basis of the content of the above method embodiment, the three-dimensional reconstruction and visualization method for a stereo image provided in the embodiment of the present invention, where the multi-frame target smooth image is registered and spliced according to absolute coordinates to obtain a first image, includes: acquiring an overlapped area of a previous frame of target object smooth image and a next frame of target object smooth image, dividing the overlapped area into a first data set and a second data set, respectively acquiring a first control point set of the first data set and a second control point set of the second data set by adopting a back projection method, carrying out iterative registration on the first control point set and the second control point set to obtain a first transformation matrix of the first control point set and a second transformation matrix of the second control point set, transforming the previous frame of image by adopting the first transformation matrix, and transforming the next frame of image by adopting the second transformation matrix to realize registration splicing of the previous frame of target object smooth image and the next frame of target object smooth image to obtain the first image.

On the basis of the content of the above method embodiment, the three-dimensional reconstruction and visualization method for a stereoscopic image provided in the embodiment of the present invention, where performing three-dimensional visualization color rendering on a first image according to intensity information of a point, includes: and performing curved surface reconstruction on the first image, constructing a triangular surface area piece of the three-dimensional surface, and coloring the triangular surface area piece by adopting red, green and blue color rendering based on intensity or color rendering based on normal direction and curvature.

On the basis of the content of the embodiment of the method, the method for three-dimensional reconstruction and visualization of a stereoscopic image provided in the embodiment of the invention comprises the following steps: projecting the three-dimensional point to a plane through a normal; and triangularizing the image obtained by projection in a plane area, and topologically connecting three-dimensional points in the plane to obtain a triangular mesh curved surface model.

On the basis of the content of the above method embodiment, the method for three-dimensional reconstruction and visualization of a stereoscopic image provided in an embodiment of the present invention, which is to triangulate an image obtained by projection in a planar area and obtain a triangular mesh curved surface model by topologically connecting three-dimensional points in the plane, includes: selecting a sample triangular plate as an initial curved surface, continuously expanding the boundary of the initial curved surface, determining topological connection among all original three-dimensional points according to the connection relation of projected images, and forming a complete triangular mesh curved surface, wherein the complete triangular mesh curved surface is a triangular mesh curved surface model.

In a second aspect, an embodiment of the present invention provides an apparatus for three-dimensional reconstruction and visualization of a stereoscopic image, including: the first main module is used for carrying out single-frame denoising on a space domain and a pixel range domain of a three-dimensional image and carrying out cluster segmentation on the denoised image to obtain a classified image; the second main module is used for carrying out interpolation fitting on the classified images to obtain smooth images of the target object and acquiring absolute coordinates and point intensity information of each frame of smooth images of the target object; and the third main module is used for registering and splicing the multi-frame smooth images of the target object according to the absolute coordinates to obtain a first image, and performing three-dimensional visual color rendering on the first image according to the intensity information of the points to finish three-dimensional reconstruction and visualization of the three-dimensional image.

In a third aspect, an embodiment of the present invention provides an electronic device, including:

at least one processor; and

at least one memory communicatively coupled to the processor, wherein:

the memory stores program instructions executable by the processor, and the processor calls the program instructions to perform the method for three-dimensional reconstruction and visualization of stereoscopic images provided by any of the various implementations of the first aspect.

In a fourth aspect, embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform a method for three-dimensional reconstruction and visualization of stereoscopic images provided in any of the various implementations of the first aspect.

According to the three-dimensional reconstruction and visualization method and equipment for the stereo image, provided by the embodiment of the invention, the image subjected to denoising is subjected to clustering segmentation, the classified image is subjected to interpolation fitting to obtain the smooth image of the target object, and the multi-frame smooth image of the target object is subjected to three-dimensional visualization color rendering after registration splicing according to the absolute coordinates of each frame of the smooth image of the target object, so that noise points and clutters can be removed, accurate registration splicing of multi-frame data is realized, and the visualization level and real-time rendering efficiency of the sonar image are improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description will be given below to the drawings required for the description of the embodiments or the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a flowchart of a three-dimensional reconstruction and visualization method for a stereo image according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a three-dimensional reconstruction and visualization apparatus for a stereoscopic image according to an embodiment of the present invention;

fig. 3 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a three-dimensional image smoothing effect according to an embodiment of the present invention;

fig. 5 is a schematic view of a multi-frame registration splicing effect of the bottom of a qingjiang lake according to an embodiment of the present invention;

fig. 6 is a schematic diagram illustrating an effect of constructing a triangular mesh surface model according to an embodiment of the present invention;

fig. 7 is a schematic diagram of an image color rendering effect after three-dimensional mesh surface stitching according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. In addition, technical features of various embodiments or individual embodiments provided by the present invention may be arbitrarily combined with each other to form a feasible technical solution, and such combination is not limited by the sequence of steps and/or the structural composition mode, but must be realized by a person skilled in the art, and when the technical solution combination is contradictory or cannot be realized, such a technical solution combination should not be considered to exist and is not within the protection scope of the present invention.

The three-dimensional reconstruction and visualization method of the stereo image is provided, original image data collected by sonar are processed through the processes of denoising and filtering, image clustering and segmentation, target extraction, three-dimensional reconstruction, registration splicing, three-dimensional visualization rendering and the like, interference of noise points, clutters and the like is removed, the image is subjected to registration splicing and curved surface reconstruction, a target image similar to the shape and the topographic features of a target object in a real underwater environment is obtained, and visualization and authenticity of the sonar image are enhanced. Based on the idea, an embodiment of the present invention provides a three-dimensional reconstruction and visualization method for a stereoscopic image, and referring to fig. 1, the method includes: carrying out single-frame denoising on a spatial domain and a pixel range domain of a three-dimensional image, and carrying out cluster segmentation on the denoised image to obtain a classified image; performing interpolation fitting on the classified images to obtain smooth images of the target object, and acquiring absolute coordinates and point intensity information of each frame of smooth images of the target object; and registering and splicing the multi-frame smooth images of the target object according to the absolute coordinates to obtain a first image, and performing three-dimensional visual color rendering on the first image according to the intensity information of the points to finish three-dimensional reconstruction and visualization of the three-dimensional image. It should be noted that the intensity information of a dot refers to the color intensity information of a pixel.

Based on the content of the foregoing method embodiment, as an optional embodiment, the method for three-dimensional reconstruction and visualization of a stereoscopic image provided in the embodiment of the present invention, which performs single-frame filtering and denoising for a spatial domain and a pixel range domain of the stereoscopic image, includes:

（1）

BF is image information output after bilateral filtering of p points of the I stereo image; p is the current point;a multidimensional space of p; i is a stereo image;p points for I; q is a point in the neighborhood;a multidimensional space of q; s is pA neighborhood set;whether it is within the domain set of p;taking a norm;respectively a spatial domain weight and a pixel domain weight;p points for I;is the q point of I.

Specifically, filtering and denoising are compromise processing combining spatial proximity and pixel value similarity of an image, and spatial information and gray level similarity are considered at the same time, so that the purpose of edge-preserving and denoising is achieved. The method has the characteristics of simplicity, non-iteration and locality, and can better perform edge storage. For the spatial domain and the pixel range domain of an image, there are two weights at the time of designThe concrete formula is shown as formula (1).

Based on the content of the above method embodiment, as an optional embodiment, the method for three-dimensional reconstruction and visualization of a stereo image provided in the embodiment of the present invention, the performing cluster segmentation on the denoised image to obtain a classified image, includes: positioning a first point in a space, acquiring a plurality of first points which are at preset distances from the first point, judging the distances from the first points to the first point, and taking the points with the distances smaller than a distance threshold value and the first point as a first point set; and positioning second points in the first point set, acquiring a plurality of second points which are away from the second points by preset distances, judging the distances from the second points to the second points, adding the points with the distances smaller than a distance threshold value and the second points into the first point set, repeating the steps until no new points are added into the first point set, and finishing clustering segmentation on the denoised image.

Specifically, there are multiple targets in a scene, and target identification is required to be performed to separate different targets, so that different targets are rendered in different colors in the rendering process, and a specific implementation method of cluster segmentation is as follows: 1) finding a certain point p10 in the space, finding n points nearest to the certain point by using a k-dimensional tree, and judging the distance between the n points and p; put points p12, p13, p14, whose distance is less than the distance threshold r, in class Q (i.e., the first set of points); finding a point p12 in Q \ p10, and repeating the step 1); finding a point in Q \ p10 and p12, repeating the step 1), finding p22, p23 and p24.. all put in a class Q; when no new point can be added to the class Q, the search is completed, namely the cluster segmentation is completed on the denoised image. Performing interpolation fitting on the classified images to obtain a smooth image of the target object, which specifically comprises the following steps: and the purposes of three-dimensional reconstruction fitting and interpolation are to smooth a three-dimensional image, supplement null points, reconstruct a surface to form a triangular surface area, render and color, obtain a complete target object and have better display. The error produced by the measurement can cause irregular data, if the curved surface is directly taken for reconstruction, the reconstructed curved surface is not smooth or has holes, and the problem can be solved by resampling the data. The least square method can be used for surface fitting, surface smoothing, image interpolation and empty point supplement. The effect of using the least square method to smooth the three-dimensional image can be seen in fig. 4, and the gray part in fig. 4 is the smoothed image, so that the smooth effect is better.

Based on the content of the foregoing method embodiment, as an optional embodiment, the three-dimensional reconstruction and visualization method for a stereo image provided in the embodiment of the present invention, the performing registration and stitching on the multiple frames of smooth images of the target object according to the absolute coordinates to obtain the first image, includes: acquiring an overlapped area of a previous frame of target object smooth image and a next frame of target object smooth image, dividing the overlapped area into a first data set and a second data set, respectively acquiring a first control point set of the first data set and a second control point set of the second data set by adopting a back projection method, carrying out iterative registration on the first control point set and the second control point set to obtain a first transformation matrix of the first control point set and a second transformation matrix of the second control point set, transforming the previous frame of image by adopting the first transformation matrix, and transforming the next frame of image by adopting the second transformation matrix to realize registration splicing of the previous frame of target object smooth image and the next frame of target object smooth image to obtain the first image.

Specifically, position coordinates and azimuth angles of the sonar are obtained through a GPS sensor, a gyroscope and the like, and are fused with image data, so that absolute coordinate information and intensity of each frame of image can be obtained. Due to the influences of ship shaking, measurement errors and the like in the test process, interpolation is needed to be carried out on single-frame data, and registration of multi-frame images is carried out after fitting, so that a real good effect is obtained in the display of continuous multi-frames. The position and angle information of the sonar are obtained through the sensor, rough registration of the image can be carried out, then accurate registration is carried out through a back projection algorithm, and a new image is generated. The effect of adopting multi-frame registration splicing at the bottom of the Qingjiang lake can be seen in figure 5, and the relief can be clearly seen. The middle area is an area which can not be detected and exceeds the range. And measuring the obtained data, wherein the actual position edge is 60-65 meters, the middle area is 90-95 meters, and the splicing result is consistent with the actual topography and landform.

Based on the content of the foregoing method embodiment, as an optional embodiment, the method for three-dimensional reconstruction and visualization of a stereoscopic image provided in the embodiment of the present invention, where performing three-dimensional visualization color rendering on a first image according to intensity information of a point includes: and performing curved surface reconstruction on the first image, constructing a triangular surface area piece of the three-dimensional surface, and coloring the triangular surface area piece by adopting red, green and blue color rendering based on intensity or color rendering based on normal direction and curvature.

Based on the content of the above method embodiment, as an optional embodiment, the method for three-dimensional reconstruction and visualization of a stereoscopic image provided in the embodiment of the present invention includes: projecting the three-dimensional point to a plane through a normal; and triangularizing the image obtained by projection in a plane area, and topologically connecting three-dimensional points in the plane to obtain a triangular mesh curved surface model.

Based on the content of the foregoing method embodiment, as an optional embodiment, the method for three-dimensional reconstruction and visualization of a stereoscopic image provided in the embodiment of the present invention, the triangularization of the image obtained by projection in a planar area, and obtaining a triangular mesh curved surface model according to topological connection of three-dimensional points in the plane, include: selecting a sample triangular plate as an initial curved surface, continuously expanding the boundary of the initial curved surface, determining topological connection among all original three-dimensional points according to the connection relation of projected images, and forming a complete triangular mesh curved surface, wherein the complete triangular mesh curved surface is a triangular mesh curved surface model.

Specifically, the constructed triangular mesh curved surface model can be seen in fig. 6, the system performs red, green and blue color rendering on the image subjected to three-dimensional mesh curved surface splicing according to the direction of the distance sonar by adopting red, green and blue colors, and the colors of slices at the same distance are the same, so that the effect shown in fig. 7 is obtained.

According to the three-dimensional reconstruction and visualization method of the stereo image, provided by the embodiment of the invention, the image after de-noising is clustered and segmented, the classified image is subjected to interpolation fitting to obtain the smooth image of the target object, and the multi-frame smooth image of the target object is subjected to three-dimensional visualization color rendering after registration splicing according to the absolute coordinates of each frame of the smooth image of the target object, so that noise points and clutter can be removed, accurate registration splicing of multi-frame data is realized, and the visualization level and real-time rendering efficiency of the sonar image are improved.

According to the three-dimensional reconstruction and visualization method of the stereo image, provided by the embodiment of the invention, noise points and clutter are effectively removed through a bilateral filtering method; according to the GPS and the attitude instrument information, the ship moving distance and the ship direction are calculated, and the multi-frame data are registered and spliced by combining an improved icp registration algorithm, so that the accuracy can meet the terrain drawing requirement. And real-time rendering of the lake bottom landform is realized under the condition of ensuring the precision. The real-time data of two frames per second can be realized, and 10 frames per second can be played back; introducing a triangular area slice, moving a cube algorithm, converting image data into an index and vertex data of a grid, and respectively rendering the image, the grid and a curved surface by using OpenGL; the visualization of the sonar image is improved, so that a user can obtain better experience; and partial functions of OpenGL are accelerated by using a GPU through a CUDA GPU algorithm, so that the real-time rendering efficiency is improved.

The implementation basis of the various embodiments of the present invention is realized by programmed processing performed by a device having a processor function. Therefore, in engineering practice, the technical solutions and functions thereof of the embodiments of the present invention can be packaged into various modules. Based on this reality, on the basis of the above embodiments, embodiments of the present invention provide an apparatus for three-dimensional reconstruction and visualization of a stereoscopic image, which is used to perform the method for three-dimensional reconstruction and visualization of a stereoscopic image in the above method embodiments. Referring to fig. 2, the apparatus includes: the first main module is used for carrying out single-frame denoising on a space domain and a pixel range domain of a three-dimensional image and carrying out cluster segmentation on the denoised image to obtain a classified image; the second main module is used for carrying out interpolation fitting on the classified images to obtain smooth images of the target object and acquiring absolute coordinates and point intensity information of each frame of smooth images of the target object; and the third main module is used for registering and splicing the multi-frame smooth images of the target object according to the absolute coordinates to obtain a first image, and performing three-dimensional visual color rendering on the first image according to the intensity information of the points to finish three-dimensional reconstruction and visualization of the three-dimensional image.

According to the three-dimensional reconstruction and visualization device for the stereo image, provided by the embodiment of the invention, a plurality of modules in the figure 2 are adopted, the image subjected to denoising is subjected to clustering segmentation, the classified image is subjected to interpolation fitting to obtain a smooth image of a target, and a plurality of frames of smooth images of the target are subjected to registration splicing according to the absolute coordinates of each frame of smooth image of the target and then subjected to three-dimensional visualization color rendering, so that noise points and clutters can be removed, accurate registration splicing of multi-frame data is realized, and the visualization level and the real-time rendering efficiency of sonar images are improved.

It should be noted that, the apparatus in the apparatus embodiment provided by the present invention may be used for implementing methods in other method embodiments provided by the present invention, except that corresponding function modules are provided, and the principle of the apparatus embodiment provided by the present invention is basically the same as that of the apparatus embodiment provided by the present invention, so long as a person skilled in the art obtains corresponding technical means by combining technical features on the basis of the apparatus embodiment described above, and obtains a technical solution formed by these technical means, on the premise of ensuring that the technical solution has practicability, the apparatus in the apparatus embodiment described above may be modified, so as to obtain a corresponding apparatus class embodiment, which is used for implementing methods in other method class embodiments. For example:

based on the content of the above device embodiment, as an optional embodiment, the three-dimensional reconstruction and visualization device for a stereoscopic image provided in the embodiment of the present invention further includes: the first sub-module is configured to implement the single-frame filtering denoising for the spatial domain and the pixel range domain of the stereo image, and includes:

BF is image information output after bilateral filtering of p points of the I stereo image; p is the current point;a multidimensional space of p; i is a stereo image;p points for I; q is a point in the neighborhood;a multidimensional space of q; s is a neighborhood set of p;whether it is within the domain set of p;taking a norm;respectively a spatial domain weight and a pixel domain weight;p points for I;is the q point of I.

Based on the content of the above device embodiment, as an optional embodiment, the three-dimensional reconstruction and visualization device for a stereoscopic image provided in the embodiment of the present invention further includes: the second sub-module is used for clustering and segmenting the denoised image to obtain a classified image, and comprises: positioning a first point in a space, acquiring a plurality of first points which are at preset distances from the first point, judging the distances from the first points to the first point, and taking the points with the distances smaller than a distance threshold value and the first point as a first point set; and positioning second points in the first point set, acquiring a plurality of second points which are away from the second points by preset distances, judging the distances from the second points to the second points, adding the points with the distances smaller than a distance threshold value and the second points into the first point set, repeating the steps until no new points are added into the first point set, and finishing clustering segmentation on the denoised image.

Based on the content of the above device embodiment, as an optional embodiment, the three-dimensional reconstruction and visualization device for a stereoscopic image provided in the embodiment of the present invention further includes: the third sub-module is used for realizing registration and splicing of the multiple frames of smooth images of the target object according to the absolute coordinates to obtain a first image, and comprises: acquiring an overlapped area of a previous frame of target object smooth image and a next frame of target object smooth image, dividing the overlapped area into a first data set and a second data set, respectively acquiring a first control point set of the first data set and a second control point set of the second data set by adopting a back projection method, carrying out iterative registration on the first control point set and the second control point set to obtain a first transformation matrix of the first control point set and a second transformation matrix of the second control point set, transforming the previous frame of image by adopting the first transformation matrix, and transforming the next frame of image by adopting the second transformation matrix to realize registration splicing of the previous frame of target object smooth image and the next frame of target object smooth image to obtain the first image.

Based on the content of the above device embodiment, as an optional embodiment, the three-dimensional reconstruction and visualization device for a stereoscopic image provided in the embodiment of the present invention further includes: the fourth submodule is configured to implement three-dimensional visualization color rendering on the first image according to the intensity information of the point, and includes: and performing curved surface reconstruction on the first image, constructing a triangular surface area piece of the three-dimensional surface, and coloring the triangular surface area piece by adopting red, green and blue color rendering based on intensity or color rendering based on normal direction and curvature.

Based on the content of the above device embodiment, as an optional embodiment, the three-dimensional reconstruction and visualization device for a stereoscopic image provided in the embodiment of the present invention further includes: a fifth sub-module for implementing the triangular area patch for constructing a three-dimensional surface, comprising: projecting the three-dimensional point to a plane through a normal; and triangularizing the image obtained by projection in a plane area, and topologically connecting three-dimensional points in the plane to obtain a triangular mesh curved surface model.

Based on the content of the above device embodiment, as an optional embodiment, the three-dimensional reconstruction and visualization device for a stereoscopic image provided in the embodiment of the present invention further includes: the sixth sub-module is configured to implement triangularization in a planar area on the image obtained by projection, and obtain a triangular mesh surface model according to topological connection of three-dimensional points in the plane, and includes: selecting a sample triangular plate as an initial curved surface, continuously expanding the boundary of the initial curved surface, determining topological connection among all original three-dimensional points according to the connection relation of projected images, and forming a complete triangular mesh curved surface, wherein the complete triangular mesh curved surface is a triangular mesh curved surface model.

The method of the embodiment of the invention is realized by depending on the electronic equipment, so that the related electronic equipment is necessarily introduced. To this end, an embodiment of the present invention provides an electronic apparatus, as shown in fig. 3, including: the system comprises at least one processor (processor), a communication Interface (communication Interface), at least one memory (memory) and a communication bus, wherein the at least one processor, the communication Interface and the at least one memory are communicated with each other through the communication bus. The at least one processor may invoke logic instructions in the at least one memory to perform all or a portion of the steps of the methods provided by the various method embodiments described above.

In addition, the logic instructions in the at least one memory may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the method embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. Based on this recognition, each block in the flowchart or block diagrams may represent a module, a program segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In this patent, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.