Narrow space three-dimensional shape scanning method with motion compensation

The invention discloses a narrow space three-dimensional shape scanning method with motion compensation, and relates to the technical field of three-dimensional shape reconstruction and detail detection. The three-dimensional shape scanning method comprises the following steps: carrying out dynamic line scanning shape measurement based on structured light in a narrow space by using a coplanar binocular line-scan digital camera and a reflector, and continuously obtaining a point cloud contour; redundant observation is carried out through an additional line-scan digital camera; the two-dimensional images processed by the additional line-scan digital camera and the coplanar binocular line-scan digital camera are correlated through image registration; under the assistance of redundant observation of the additional linear array camera, relative motion information in the line scanning process is estimated, motion compensation is achieved, and line scanning point cloud contours are precisely spliced into a high-prec