Multi-stage dense reconstruction method and device based on reprojection and storage medium

The invention discloses a multi-stage dense reconstruction method and device based on reprojection and a storage medium, relates to the technical field of computer vision, and solves the problems that in the prior art, when a weak texture target is reconstructed, the calculated amount is large, and the reconstruction effect is not ideal. Generating a multi-scale aggregation feature; after regularizing top layer features in the multi-scale aggregation features, determining a coarse depth map; sampling is carried out on the coarse depth map, and after fusion and regularization are carried out on the coarse depth map and the top-layer features of the multi-scale aggregation features, the coarse depth map and the top-layer features are superposed, and a secondary depth map is determined; repeating the steps, and outputting a final depth map; the objective of good reconstruction effect of the weak texture region under the condition of small calculation amount is achieved. 本申请公开了一种基于重投影的多阶段稠密重建方法、装置及存储介质，涉及计算机视觉技术领