Distance measuring method based on binocular camera

Abstract

The invention discloses a distance measuring method based on a binocular camera. The method comprises the steps that a left camera and a right camera are calibrated, and the calibration of the binocular camera is achieved by calculating the rotation and translation matrix between the left camera and the right camera; distortion correction and three-dimensional correction are conducted on the radial distortion and the tangential distortion of the image; cost calculation, cost aggregation, parallax calculation and parallax optimization are carried out on images formed by the binocular camera insequence; depth calculation is carried out. According to the three-dimensional matching algorithm of a self-adaptive region, the self-adaptive region is constructed to carry out cost polymerization, so that the error and the time are reduced, and the error is reduced by means of the method for optimizing the scanning lines in the four directions (up and down, left and right) by means of binocularimage correction, the parallax precision is improved. A voting method and other methods are adopted in the parallax optimization process, the shielding points and the mismatching points which are matched with the parallax are eliminated, and the parallax matching precision is further improved, the depth of the to-be-measured point is finally calculated, the precision is high, and the operation time is short.

Description

technical field [0001] The invention relates to the field of binocular cameras, in particular to a distance measuring method based on binocular cameras. Background technique [0002] In the prior art, in order to obtain the depth information of an object, the prior art mainly includes binocular stereo vision, structured light, and TOF. Among them, structured light is not very effective in the case of high light intensity, while TOF cannot be widely used due to high product cost. Binocular stereo vision is to simulate the principle of human vision so that the computer can obtain the depth information of the object while obtaining the plane information of the object. Binocular stereo vision mainly includes offline camera calibration, binocular image correction, binocular matching and 3D distance calculation. Among them, the offline camera calibration is mainly to obtain the internal and external parameters of the camera and the positional relationship of the binocular camera...

AI Technical Summary

Problems solved by technology

It can be seen that the key to binocular vision lies in binocular stereo matching, and the existing stereo matching algorithms mainly include local algorithms (including local area matching, local feature matching) and global algorithms (mainly including graph cut method), etc. The local stereo matching algorithm has insufficient matching accuracy, and the global stereo matching algorithm has too long running time. An adaptive area stereo matching algorithm is proposed, which effectively balances the problems of algorithm running time and algorithm accuracy.

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