Motion recovery structure calculation method

The invention discloses a movement recovery structure calculation method, which comprises the following steps of: extracting a standard frame from a shot video, and calibrating internal parameters of a camera; Shooting a scene video by using the calibrated camera internal reference, sampling the scene video, and extracting a key frame; Performing movement recovery structure calculation on the key frame groups; Extracting representative frames from each group of key frames, performing movement recovery structure calculation on the representative frames, and calibrating each group of key frames according to a calculation result; And optimizing each group of key frames to obtain three-dimensional structure information of the whole scene. According to the movement recovery structure calculation method, a grouping and merging mode is used, the large-scale movement recovery structure calculation speed is greatly increased, and calculation resources are saved. 一种运动恢复结构计算方法，包括以下步骤：从拍摄的视频中提取标准帧，标定相机内参；采用标定的相机内参拍摄场景视频，