Fig. 1. Experimental system model

Fig. 2. Rotating Risley prism model

Fig. 3. Spatial point imaging diagram of adjacent array virtual cameras

Fig. 4. Imaging diagram of virtual camera

Fig. 5. Simulation of overlapping view of array virtual camera

Fig. 6. Position diagram of virtual camera coordinate system

Fig. 7. Captured binocular images, the first row corresponds to the angle combination (30°, 150°), (15°, 165°), and the second row corresponds to the angle combination (0°, 180°), (-15°,-165°)

Fig. 8. Original point cloud

Fig. 9. Overlapping point clouds. (a) The first pair; (b) the second pair; (c) the third pair

Fig. 10. The first pair of point cloud registration. (a) ICP results with pre-coarse registration; (b) ICP results without coarse registration

Fig. 11. The second pair of point cloud registration. (a) ICP results with pre-coarse registration; (b) ICP results without coarse registration

Fig. 12. The third pair of point cloud registration. (a) ICP results with pre-coarse registration; (b) ICP results without coarse registration

Fig. 13. The final splicing result. (a) Point cloud diagram; (b) point cloud coloring diagram