Stereo Match of Serial Feature Points on Scanning Laser Beam

In 3D contour inspection based on laser scanning, the scanning laser beam provides enough successive features to recover the object surface. It is the key link of completing measurement to determine and match feature points accurately. A method based on epipolar slope-constrain and ray intersection-constraint is proposed in this paper. The centroidal curve is picked as the primitive to be matched. Given one point of left centroidal curve, its corresponding epipolar line on right image plane can be obtained due to epipolar slopeconstraint. And the intersecting point of right centroidal curve and right epipolar line is the rough matching point of given point. An exact searching around rough matching point according to ray intersection-constraint is adopted to complete the accurate stereo matching. This method is applicable for field measurement with large data because of its high precision and speed