| Citation: | Weng J N，Xu Z，Li Y H，et al. High-accuracy real-time 3D multi-target detection for low-altitude security scenarios[J]. Journal of Beijing University of Aeronautics and Astronautics，2026，52（9）：3163-3171 （in Chinese）
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A real-time 3D detection method based on binocular vision is proposed to meet the high-accuracy ranging requirements of dynamic targets in low-altitude security scenarios. The method, which is based on the semi-global block matching (SGBM) algorithm, combines morphological processing, bilateral filtering, and interpolation-based hole-filling to enhance the completeness of depth information and disparity quality in weak-texture areas. With calibrated camera parameters and the triangulation principle, target 3D coordinates are computed in real time. Experiments show that within the distance range of 0.5-2.0 m, the disparity hole rate is reduced from
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