Fig. 1. Schematic of mobile binocular structured light surface reconstruction system

Fig. 2. Measurement system of experiment. (a) Vehicle dynamic surface scanning system; (b) vehicle sensors

Fig. 3. Effect images of feature point matching and tracking. (a) Feature point matching of binocular images; (b) feature point tracking between front and back position images

Fig. 4. Three-dimensional coordinate calculation of feature point

Fig. 5. Effect of surface reconstruction. (a) Surface shape; (b) point cloud of the surface; (c) local detail of the point cloud; (d) three-dimensional shape after surface fitting

Fig. 6. Reconstruction results before global optimization. (a) Point cloud of the reconstruction results; (b) three-dimensional shape after surface fitting

Fig. 7. Reconstruction results after global optimization. (a) Point cloud of the reconstruction results; (b) three-dimensional shape after surface fitting

Fig. 8. RMSE of the points on each light bar to the fitted plane before and after global optimization

Fig. 9. Schematic diagram of the deformation measurement verification system. (a) Coordinate measuring machine; (b) deformation verification point; (c) static reference point of binocular image

Fig. 10. Deformation comparison of two reconstructed point clouds. (a) Schematic diagram of the point cloud after unifying the global coordinate system; (b) schematic diagram of the point cloud enlarged

Fig. 11. Deformation errors of the 5 measurement points