ABSTRACT The speed of three-dimensional (3D) reconstruction based on structured light is affected by the stitching speed. In order to improve the stitching speed, a fast stitching method based on verticality calibration is proposed. Firstly, vertical calibration is used to place the camera perpendicular to the reference plane; then, the rotation axis is corrected. A normal vector of a plane based on three marker points is determined, and the decomposition vector perpendicular to the corrected rotation axis is obtained. Secondly, the angle between the decomposition vector before and after transformation is calculated. Finally, the rotation (R) matrix and translation (T) matrix are solved, and the stitching is completed. Experiments show that this method can improve the speed of surface stitching in 3D reconstruction based on structured light. The average error of stitching is 0.1103 mm and the standard deviation is 0.0327 mm when the stitching area is 250 mm × 90 mm.

中文翻译：

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一种基于三个标记点垂直度标定的快速拼接方法

摘要 基于结构光的三维（3D）重建速度受拼接速度的影响。为了提高拼接速度，提出了一种基于垂直度校准的快速拼接方法。首先，垂直标定用于将相机垂直于参考平面放置；然后，校正旋转轴。确定基于三个标记点的平面的法向量，得到垂直于校正旋转轴的分解向量。其次，计算变换前后分解向量的夹角。最后求解旋转（R）矩阵和平移（T）矩阵，拼接完成。实验表明，该方法可以提高基于结构光的3D重建中表面拼接的速度。