Three-dimensional visual perception method and system based on stereoscopic vision and TOF fusion

The invention belongs to the field of robot digital image acquisition and processing, and particularly relates to a three-dimensional visual perception method and system based on stereoscopic vision and TOF fusion, and the method comprises the steps: employing two visual imaging units, and collecting two RGB images; tOF imaging equipment is adopted to collect a TOF depth image; an FPGA board card and a high-speed image acquisition and processing module are adopted to carry out stereoscopic vision calculation on any path of RGB image to obtain a stereoscopic vision depth map corresponding to the path of RGB image; performing fusion processing on the stereoscopic vision depth map and the TOF depth map by adopting a GPU board card and a CUDA-based depth fusion module to obtain a fused depth map; and taking the two paths of RGB images, the stereoscopic vision depth map and the fused depth map as a three-dimensional vision perception result, and completing three-dimensional vision perception. The invention develop