Blast furnace charge level three-dimensional reconstruction method and system based on virtual multi-view endoscope

The invention discloses a blast furnace charge level three-dimensional reconstruction method and system based on a virtual multi-view endoscope. The method comprises the following steps: establishing a relative motion model of a charge level and an endoscope by utilizing parallax formed by descending of the charge level, and virtualizing a multi-view virtual endoscope in space; based on the virtual endoscope and a triangulation principle, recovering space coordinates of feature points, so as to obtain sparse three-dimensional point cloud data; according to distribution ring characteristics of a blast furnace charge level, using the sparse three-dimensional point cloud data to construct depth contour lines; constructing a distance field function capable of reflecting charge level distribution, mapping the depth contour lines into a three-dimensional space, and carrying out calibration according to mechanical stock rod data, so as to obtain three-dimensional charge level morphology in a real space. Thus, the te