An algorithm of generating point cloud based on the space relative orientation direct solver and additional constraints

In recent years, space stereoscopic imaging system structured with two or more lens has been a lot of promotion and application. Especially in the three-dimensional measurement and spatial model reconstruction, it receives more and more extensive attention. Theoretically, 3D reconstruction from multi-image can be comparable with the laser scanner in accuracy. How exactly solving the spatial relationship between the spatial overlap image sequence, is an important part to ensure and improve the accuracy of the reconstructioual 3D model. This paper introduces an algorithm for generating point cloud based on the space relative orientation direct solver and additional constraints. To ensure the accuracy and efficiency of relative orientation, firstly, the rough values are obtained by direct relative orientation, then the values is refined by iterative solution in the error equation with additional constraints. The algorithm has higher precision solver on spatial relationship parameters between overlapping image sequence, can greatly improve the accuracy of the subsequent 3D point cloud, and ensure the accuracy of the 3D reconstruction.