Stereo vision measuring apparatus based on binocular omnidirectional visual sense sensor

Abstract

Disclosed is a stereo vision measuring device based on a binocular omni-directional vision sensor. Each ODVS composing the binocular omni-directional vision sensor adopts the design of mean angle resolution. The parameters of two image collection cameras are in complete accord and in possession of a pretty good symmetry, and can quickly realize the point-to-point matching. The device adopts a unified spherical coordinate in the process of data collection, processing, description and representation of space objects in terms of centering on human in visual space, and adopts the elements of distance sense, direction sense and color sense to express features of each characteristic point, thereby simplifying the complication of calculus, omitting the calibration of the cameras, facilitating the feature extraction and realizing the stereo image matching easily, finally realizing the purpose of high-effective, real-time, and accurate stereo vision measurement. The device can be applied in a plurality of fields of industrial detection, object identification, robot automatic guidance, astronautics, aeronautics, military affairs, etc.

Description

Stereo vision measurement device based on binocular omnidirectional vision sensor technical field The invention belongs to the application of optical technology and computer vision technology in stereo vision measurement. Background technique The binocular stereo vision 3D measurement and stereo reconstruction technology based on computer vision is an emerging application technology with great development potential and practical value, which can be widely used in industrial inspection, geographic survey, medical plastic surgery, orthopedic orthopedics, Reproduction of cultural relics, criminal investigation and evidence collection, security identification, robot vision, rapid prototyping of molds, gifts, virtual reality, animated films, games and many other application fields. The basic principle of stereo vision is to observe the same scene from two viewpoints to obtain perceptual images under different viewing angles, and calculate the position deviation between image p...

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