Tunnel-based multi-camera line scanning image splicing method

The invention discloses a multi-camera line scanning image splicing method based on a tunnel, and the method comprises the steps: S1, enabling a plurality of line-scan digital cameras and a laser radar to be installed on an installation pedestal of a vehicle, and carrying out the registration; s2, performing block correction on the image; s3, performing feature extraction and feature matching on the image; s4, the offset between the linear array cameras is calculated; and S5, calculating the position of the image in the panorama, and splicing according to the position. As the cross section of the tunnel lining is a curved surface, the corresponding object distance change of the image in the longitudinal direction is large, and compared with a traditional splicing method, the method has the advantages that distance measurement data and mileage data are acquired through a laser radar to perform block correction on the image acquired by a line-scan digital camera, and then part of the image is randomly selected