The invention discloses a real-time three-dimensional
reconstruction method and
system for a large-scale scene based on a line-of-
sight updating
algorithm, and belongs to the field of computer visionand robots. The invention aims to solve a problem of providing a method in which a light of
sight is generated according to the current three-dimensional
point cloud, data updating is realized and thus real-time reconstruction is performed in allusion to a problem that general algorithms cannot realize real-time reconstruction for large-scale
point cloud data of
laser radar. The real-time three-dimensional
reconstruction method mainly comprises the steps of acquiring three-dimensional
point cloud, calculating external parameter data of a sensor, calculating a symbol distance value of an implicit surface based on a line-of-
sight algorithm, performing weighted fusion on the symbol distance value, performing
volume rendering on volume data, storing the volume data and displaying a reconstruction effect in real time. The implicit surface is updated in real time through introducing the line-of-sight updating
algorithm, so that real-time reconstruction for a large-scale scene based on depthsensors such as
radar is achieved. The real-time three-dimensional
reconstruction method and
system not only have great advantages in speed, but also acquire good effects in reconstruction quality.