Depth measurement method based on binocular three-dimensional vision

A technology of three-dimensional vision and depth measurement, which is applied in the direction of measuring devices, neural learning methods, instruments, etc., can solve the problems of difficult reconstruction of contact measurement systems, difficulties in learning and training of operators, and high price, and achieve convenient measurement and experimental results. The effect of strong environmental adaptability and low cost

Inactive Publication Date: 2010-12-08
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

[0013] To sum up, the existing measurement technology generally has the following defects: (1) precision equipment, expensive, high cost; (2) most high-pre...

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  • Depth measurement method based on binocular three-dimensional vision
  • Depth measurement method based on binocular three-dimensional vision
  • Depth measurement method based on binocular three-dimensional vision

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Embodiment

[0056] Such as figure 1 As shown, the depth measurement method based on binocular three-dimensional vision includes the following steps:

[0057] (1) The left image and the right image of the object are respectively obtained by two cameras, and each point of the object corresponds to the left image coordinate and the right image coordinate in the left image and the right image, and both are two-dimensional coordinates; the characteristics of several objects are obtained point;

[0058] (2) Establish a BP neural network model;

[0059] (3) according to the left image and the right image that described step (1) obtains, extract the left image coordinate and the right image coordinate of object bottom plane feature point; By the BP neural network model of described step (2) gained described feature points for training, map the left image coordinates and right image coordinates of each feature point to the three-dimensional world coordinates, and fit all the three-dimensional wo...

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Abstract

The invention provides a depth measurement method based on binocular three-dimensional vision, comprising the following steps of: (1) respectively acquiring a left image and a right image of each object through two cameras and acquiring characteristic points of a plurality of objects; (2) establishing a BP (Back Propagation) neural network model; (3) extracting left image coordinates and right image coordinates of the characteristic point on the bottom plane of each object, acquiring three-dimensional world coordinates by BP neural network model training, and establishing a three-dimensional plane function of the bottom surface of each object; (4) extracting left image coordinates and right image coordinates of one characteristic point on the top plane of each object, and acquiring three-dimensional world coordinates by BP neural network model training; and (5) acquiring the depth value of each object according to the three-dimensional plane function of the bottom surface of the object and one characteristic point on the top surface of the object. The invention can realize non-contact depth measurement on the objects and has the advantages of high measurement precision, low cost, and the like.

Description

technical field [0001] The invention belongs to the technical field of object measurement, in particular to a depth measurement method based on binocular three-dimensional vision. Background technique [0002] At all times and in all over the world, there are endless methods of measuring objects. But for measurement requirements, each method is aimed at very specific needs. [0003] At present, the existing depth measurement technology can be divided into two categories: contact measurement and non-contact measurement. The summary is summarized in Table 1 below: [0004] Table 1 Various measurement techniques [0005] [0006] In the prior art, there is a portable three-dimensional scanner, which realizes the function of a multi-sensor visual measurement system by the movement of a single visual sensor, and this method is sometimes called mobile three-dimensional scanning. In this way, according to the requirements of the measurement task, a single vision sensor can b...

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Application Information

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IPC IPC(8): G01B11/22G06N3/08
Inventor 洪启松张平汤峰
Owner SOUTH CHINA UNIV OF TECH
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