Ranging system and ranging method based on low-light binocular camera

Abstract

In order to meet the needs of binocular ranging at night, the present invention provides a ranging system and ranging method based on a low-light binocular camera. Taking into account the shortcomings of low signal-to-noise ratio of low-light images, the image noise is reduced through preprocessing. It also makes full use of the global color and texture information of the image during the feature matching and optimization process, weakening the impact of false matching caused by local noise; combining the results of Census descriptor and color feature calculations with the semi-global matching optimization algorithm to enhance the feature Extraction robustness and feature matching accuracy. The invention has the capability of low-light ranging at night and can achieve accurate ranging at night.

Description

technical field [0001] The invention belongs to the technical field of binocular ranging, and relates to a ranging system and a ranging method based on a low-light binocular camera. The present invention can be used in various occasions that need to measure the distance of an object in a dark environment, such as nighttime environment perception of unmanned vehicles, on-site scanning and reconstruction of underground cultural relics in archaeological work, warehouse and nighttime video surveillance, etc. Background technique [0002] Binocular camera is a device based on the principle of binocular parallax, which can calculate the three-dimensional space position of the object captured by the binocular camera relative to the camera. It has been widely used in production line inspection, vehicle braking safety, unmanned driving, and three-dimensional scanning. and other fields. [0003] In the process of binocular ranging, obtaining high-quality and clear images is very impo...

AI Technical Summary

Problems solved by technology

[0005] In order to meet the needs of binocular distance measurement at night and solve the imaging problem of the existing binocular distance measurement system under weak lighting conditions such as night and underground, the present invention provides a distance measurement system and distance measurement system based on a low-light binocular camera. In this method, considering the low signal-to-noise ratio of low-light images, the image noise is reduced through preprocessing, and the global color and texture information of the image is fully utilized in the process of feature matching and optimization, which weakens the influence of false matching caused by local noise, and can Accurate ranging at night

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