Three-dimensional visual information acquisition method based on two-dimensional and three-dimensional video camera fusion

The invention discloses a three-dimensional visual information acquisition method based on two-dimensional and three-dimensional video camera fusion. According to the method, a two-dimensional video camera and a three-dimensional video camera form a composite video camera to respectively image a scene synchronously; by establishing a matched mapping model of three-dimensional video camera depth images and two-dimensional video camera images, matched mapping points and mapping areas of the pixels of the three-dimensional camera video depth images in the two-dimensional video camera images are obtained; the mapping areas in the two-dimensional video camera images are processed through triangular decomposition, and a depth curved surface interpolation function of a triangulation area is established on the basis of depth information of adjacent mapping points; depth information of image pixels in the triangulation area is calculated through interpolation, and then depth images corresponding to high-resolution two-dimensional video camera images can be acquired. According to the method, the two-dimensional video camera image information and the three-dimensional video camera depth information are kept to the maximum degree, and the method has the advantages of being high in precision, little in information loss and the like and can be widely applied to the fields of industrial visual measurement, visual assembly, robot visual navigation and the like.