Fig. 1. SGBM algorithm framework

Fig. 2. Imaging system. (a) Geometric relationship between parallax and depth; (b) getting spatial points from pixel coordinates

Fig. 3. Experimental device diagram. (a) Board layout; (b) layout of lidar and binocular camera

Fig. 4. Edge extraction. (a) (b) Edge extraction results of different perspectives of binocular camera; (c) frame selection of lidar point cloud

Fig. 5. Point cloud fusion results from different perspectives in two scenes. (a) (b) Scene one; (c)(d) scene two

Fig. 6. Results of lidar point cloud reprojection

Fig. 7. Point cloud fusion of two different perspectives of binocular camera. (a)(b) Left view of two perspectives; (c) result of the point cloud fusion

Fig. 8. Fusion results of method in Ref. [4]. (a) Result of edge point extraction; (b) result of circle center extraction

Fig. 9. Fusion results of method in Ref. [4]. (a) Result 1; (b) another result