Fig. 1. Principle of stereo phase unwrapping method

Fig. 2. Overall framework of the proposed real-time high-precision model reconstruction method

Fig. 3. Schematic diagram of graph optimization algorithm

Fig. 4. Comparison of initialization effects of point cloud position and pose.（a）Pose initialization effect of existing methods；（b）Pose initialization effect of the method proposed in this paper；（c）Corresponding partial enlargement of（a）；（d）Corresponding partial enlargement of（b）.

Fig. 5. Comparison of point cloud global registration effect.（a）Complete point cloud model derived by the method proposed in this paper；（b）10 times downsampling result of（a）；（c）Complete point cloud model derived by existing method；（d）10 times downsampling result of Fig.5（c）；（e），（g），（i），（k）Corresponding partial enlarged pictures of Fig.5（b），（d）；（f），（h），（j），（l）Triangular display corresponding to Fig.5（e），（g），（i），（k）.

Fig. 6. Display of point cloud registration results.（a）Complete point cloud model of the David model；（b）Corresponding triangulation display of Fig.6（a）；（c）Complete point cloud model of the pirate model；（d）Corresponding triangulation display of Fig.6（c）.

Fig. 7. Analysis of reconstruction results of precision ball and pirate model.（a），（c）Positional relationship between the precision ball and the pirate model；（b），（d）Reconstruction results of precision ball and pirate model after one rotation；（e），（f）Error distribution after spherical fitting.