Binocular-vision-based rapid detection method for three-dimensional information of space object

Abstract

The invention discloses a binocular-vision-based rapid detection method for three-dimensional information of a space object. The method comprises: (1). Two cameras are calibrated to obtain an internal parameter matrix and an external parameter matrix; (2), the two cameras collect an image of a measured object simultaneously; (3), according to the calibration result, a re-projection matrix is calculated and three-dimensional correction is carried out on the image; (4), filter and smoothing processing is carried out on the corrected image and edge extraction is carried out on the filtered image; (5), on the basis of an improved edge-feature-based rapid matching algorithm, three-dimensional matching is carried out on the image to obtain a plurality of matching point pairs; and (6), according to the internal and external parameter matrixes obtained by camera calibration, the re-projection matrix, and a parallax principle, three-dimensional information of the measured object is restored. According to the invention, the traditional feature-point-based matching algorithm is improved. The original precision is kept and the matching speed is increased; and real-time three-dimensional information detection can be realized.

Description

technical field [0001] The invention relates to the field of machine vision, in particular to a method for rapidly detecting three-dimensional information of space objects based on binocular vision. Background technique [0002] At present, sensors such as laser, radar, and sonar are commonly used in 3D measurement. However, since the detection principles of the above sensors are based on pulse ranging, they are more sensitive to external noise and are prone to false detection due to magnetic field interference, and the price is relatively high. . Compared with ultrasonic, radar and other sensors, visual sensors are not easy to interfere with each other, and can quickly obtain a large amount of image information, even the detailed features of the target, and the price is relatively low. hotspot. [0003] Binocular vision is a major branch of machine vision. Because it can simulate the human eye, it has the function of stereoscopic perception of the three-dimensional world....

AI Technical Summary

Problems solved by technology

[0005] In view of the above technical problems, the present invention provides a binocular vision-based rapid three-dimensional information detection method of space objects, which can overcome the problems of expensive equipment and unsatisfactory real-time performance and matching accuracy in current three-dimensional measurement, and can be applied to industrial robots Three-dimensional information detection of the working environment and dimension measurement of workpieces, etc.

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