A binocular vision distance measurement method to improve the measurement range

Abstract

The invention discloses a binocular-vision distance measurement method capable of widening the measurement range. The method comprises the following steps: respectively shooting a group of short-focus images and a group of long-focus images by adopting a binocular camera in a parallel-optical axis structure with a fixed base length; searching a corresponding point group a of the short-focus images and a corresponding point group b of the long-focus images, and well matching a corresponding point group c which simultaneously belongs to the short-focus images and the long-focus images, wherein the corresponding point group a is matched with the corresponding point group b, and the corresponding points of the distorted and polar line-corrected images only have horizontal parallax; then working out the depth of the short-focus corresponding points by utilizing a pre-obtained parallax depth relationship; retaining a calculation result if the depth of the short-focus corresponding points is within a reliable range; retaining the calculation result if all the short-focus corresponding points are on the long-focus images and the calculated depth is within the reliable range; otherwise, abandoning the calculation result. Under the condition that the binocular camera is fixedly mounted, a visual angle can be measured within a large range and the measurement range of the depth is widened as well.

Description

technical field [0001] The invention relates to the field of visual measurement, in particular to a binocular vision ranging method for improving the measurement range. Background technique [0002] Commonly used ranging methods include ultrasonic ranging, laser ranging, infrared ranging, optical ranging, etc., which are mainly used in military, industrial measurement, building construction and other fields. Currently commonly used visual measurement techniques mainly include the following three methods: binocular stereo vision method, structured light method, and geometric optics method. [0003] Binocular stereo vision ranging has the advantages of non-contact, automatic measurement, and harmless to human eyes. The most commonly used is the parallel optical axis model. The two cameras are placed horizontally at a baseline distance. First, through distortion correction and epipolar correction, the same feature point has only horizontal parallax in the two images. The paral...

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Problems solved by technology

[0006] In order to overcome the shortcomings and deficiencies of the prior art, the present invention provides a method for binocular vision distance measurement that improves the measurement range. The problem of small rangefinding angle of view of the telephoto lens

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