通过双目立体视觉重建得到的真实物体3维模型一般具有较大的噪声，并可能存在孔洞。针对这一问题，提出在规则3维点集下，通过非局部(NL)方法来滤除3维模型的噪声并填补孔洞。为提高算法效率，对含孔区域和非孔区域的点集，分别做基本NL滤波和基于主成分分析的NL滤波，然后进一步通过NL方法对孔洞做填补。实验结果表明，对于多种真实物体，所提出的方法均能有效地重建3维模型，且与其他方法相比具有更高的精度。

The 3D models reconstructed from binocular stereo always have noticeable noise, and even contain holes. To deal with this issue, this paper presents a non-local (NL) method to denoise and hole-fill the original model on a regular vertex set. To improve computational efficiency, the proposed method uses a basic NL method and principal component analysis (PCA) based NL method to remove model noise in hole and non-hole regions, respectively. The filled holes are then processed by NL denoising to improve the consistency with the surrounding surfaces. The experimental results show that, when evaluated on different real objects with various sizes, the proposed method can reconstruct 3D models effectively and performs much better than previous methods.