Multi-train splice angle measurement method based on rear-view binocular camera
A technology of a binocular camera and a measurement method, which is applied in the direction of measurement devices, image data processing, instruments, etc., can solve problems such as sensor failure, and achieve the effects of good real-time performance, low cost, and wide applicability
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[0036] Embodiment: In this embodiment, a method for measuring the articulation angle of multiple trains based on a rear-view binocular camera, the flowchart is as follows figure 1 Shown. The binocular rear view camera image is the input of the system, and the articulation angle of multiple rows of container vehicles is the output of the system. The detailed algorithm module functions are introduced as follows:
[0037] 1. Obtain binocular RGB format images.
[0038] 2. Preprocessing the image, including grayscale, distortion removal and binocular alignment.
[0039] 3. Calculate the matching cost based on the sum of absolute difference (SAD), and calculate the final disparity map based on the semi-global optimization (SGBM) method.
[0040] 4. Use the depth information calculated above to obtain 3D point cloud information. Since the trailer's roll and pitch motions are relatively small (usually less than 5 degrees), the three-dimensional point cloud can be approximately replaced by...
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