Depth measurement method based on binocular three-dimensional vision

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...

AI Technical Summary

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-precision measurement systems are contact measurement methods; (3) contact measurement systems Difficult to reconstruct; (4) Difficult to learn and train operators

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