Target object fast ranging method based on binocular vision

A technology of target object and distance measurement method, which is applied in the field of computer vision, can solve the problems of feature point inclusion and mismatch, and achieve the effect of speeding up

Active Publication Date: 2018-08-31
ZHEJIANG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If the window is too small to include the feature points in the "search window", there will be a mismatch

Method used

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  • Target object fast ranging method based on binocular vision
  • Target object fast ranging method based on binocular vision
  • Target object fast ranging method based on binocular vision

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Embodiment Construction

[0046] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0047] Such as figure 1 As shown, the present invention is a fast ranging method for target objects based on binocular vision, including the following steps:

[0048] (1) Camera calibration

[0049] (2) Collect images and detect target objects

[0050] (3) Calculate the search area

[0051] (4) Select the starting search position

[0052] (5) Extract the gray features of the central area of ​​the target object

[0053] (6) Calculate the matching threshold

[0054] (7) Search and match

[0055] (8) Calculate parallax and distance

[0056] Step (1) specifically includes:

[0057] In this embodiment, the Zhang Zhengyou chessboard calibration method is used to calibrate the horizontally placed camera to obtain the camera's internal parameter matrix, external parameter matrix, distortion coefficient and respective rotation matrix when the two cameras are paral...

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Abstract

The invention provides a target object fast ranging method based on binocular vision, comprising the following steps: (1) performing camera calibration; (2) acquiring images and detecting a target object; (3) calculating a search area; (4) selecting a start position of searching; (5) extracting grayscale features of the central region of the target object; (6) calculating a matched degree threshold; (7) performing searching for matching; and (8) calculating the parallax and the distance. According to the position of the target object in one picture, the method quickly searches for the matchedtarget object in another picture, which reduces the computational complexity and effectively improves the ranging speed.

Description

Technical field [0001] The invention relates to the field of computer vision, in particular to a method for fast ranging of a target object based on binocular vision. Background technique [0002] Binocular vision is widely used in robotics, aviation, military, medical and industrial fields. Binocular vision can calculate the actual distance of the target object by simulating human vision principles: first use the camera to obtain two pictures of the same target object at different angles; then find the relationship between the two picture pixels to match, and calculate the matching pixels To obtain the disparity value of the target object, finally use the disparity value of the target object to calculate the actual distance between the target object and the camera according to the principle of similar triangles. The specific principle refers to "Learning OpenCV" (Bradski G, Kaebler A, Yu Shiqi, Liu Ruizhen translation. Tsinghua University Press, 2009). [0003] Current matching ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/30G06T7/80G06T7/60G06K9/62
CPCG06T7/30G06T7/60G06T7/80G06F18/22
Inventor 朱威叶瑞伍震业滕游郑雅羽
Owner ZHEJIANG UNIV OF TECH
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