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Binocular stereo vision measuring method

A technology of binocular stereo vision and measurement method, which is applied in the field of image processing, can solve the problems of insufficient redundancy of calibration errors, insufficient smoothness of object depth data, and insufficient robustness of algorithm effects, and achieves reduction of cost aggregation time and edge preservation. Good features, good effect

Active Publication Date: 2018-10-19
ELECTRIC POWER RES INST STATE GRID SHANXI ELECTRIC POWER +1
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Problems solved by technology

[0005] However, the defects still exist in the current existing technology include: the efficiency of the algorithm is insufficient when the binocular stereo matching cost is aggregated; The degree of redundancy is not high enough, etc.

Method used

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Embodiment Construction

[0060] In order to further elaborate the technical means and effects that the present invention adopts for reaching the intended invention purpose, below in conjunction with the accompanying drawings and preferred embodiments, the specific implementation, structure, features and effects of the present invention are described in detail as follows:

[0061] The invention provides a binocular stereo vision measurement method, such as figure 1 shown, which includes the following steps:

[0062] A binocular stereo vision measurement method, comprising the following steps:

[0063] S1: Target detection: locate the first target detection frame, and obtain the initial image position information of the target;

[0064] S2: binocular calibration: calibrate the binocular camera to obtain relevant parameters of the binocular camera;

[0065] S3: Binocular stereo matching: use the binocular camera related parameters and image pairs obtained by binocular calibration, generate an initial d...

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Abstract

The invention discloses a binocular stereo vision measuring method, including target detection: positioning a first target detection frame and acquiring the initial image position information of a target; binocular calibration: obtaining the relevant parameters of a binocular camera; binocular stereo matching: forming a secondary parallax space and the three-dimensional information of each point in the image; and target segmentation: finely segmenting the target to obtain a second target detection frame, and obtaining a distance between the target and the binocular camera or a protection target by using the three-dimensional information in the second target detection frame. The binocular stereo vision measuring method can improve the robustness of the binocular stereo matching, increases the cost aggregation efficiency in the process, and can quickly obtain high-quality parallax, thereby contributing to the rapid warning of invaders in a power grid and achieving automatic transmissionline intrusion early warning.

Description

technical field [0001] The invention relates to the field of image processing, in particular to a binocular stereo vision measurement method. Background technique [0002] The following statements merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] Condition monitoring of transmission lines in power systems is an extremely important task. At present, manual inspection and image monitoring are the most important methods in the state monitoring of transmission lines. However, these two methods require inspection personnel to be on duty on the spot or on the monitoring platform, which is inefficient and not conducive to intelligent early warning. In recent years, computer vision technology has developed rapidly, and visual measurement technology based on binocular stereo matching is also an important branch of computer vision technology that has been widely studied and applied. In order to realize the f...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T7/30G06T7/136
CPCG06T7/136G06T7/30G06T7/85G06T2207/10012
Inventor 杨罡张娜李永祥王欣伟马丽强曹京津陈昱同程远王海涛严碧武周赞东李涛冯智慧方书博
Owner ELECTRIC POWER RES INST STATE GRID SHANXI ELECTRIC POWER
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