A fast calculation method for straight line trajectory without binocular synchronization

Abstract

The invention belongs to the technical field of stereo vision based on a binocular camera, and in particular relates to a fast calculation method for a straight line trajectory without binocular synchronization. It includes the following steps: the binocular camera shoots the target object moving in a straight line, the left and right cameras obtain the image respectively, obtains the pixel coordinates of the target object in the image, and establishes a space camera coordinate system with the optical center of the left or right eye camera in the binocular camera as the origin , convert the two-dimensional points in the image into three-dimensional points in space; in the camera coordinate system, take two images of the left-eye camera and extract the coordinates of the target points respectively, and determine the plane equation 1 with the optical center of the left eye, and the right-eye camera Two images are randomly selected to extract the coordinates of the target point, and the plane equation 2 is determined with the optical center of the right eye. The intersection of the two planes can determine the linear motion trajectory. The method does not need binocular image feature point matching when calculating the linear motion trajectory, reduces the complexity of trajectory calculation, and solves the problem of difficult feature point matching in the traditional binocular ranging method under high-speed photography.

Description

technical field [0001] The invention belongs to the technical field of stereo vision based on a binocular camera, and in particular relates to a method for measuring a linear motion track by a binocular camera. Background technique [0002] A binocular camera is a device that can provide stereoscopic vision information. Based on the images obtained by the binocular camera, the three-dimensional space position of the object captured by the binocular camera relative to the camera can be calculated through the principle of binocular parallax. [0003] The principle of pinhole imaging is the straight line propagation of light, and the principle of camera imaging is the refraction of light, but both of them get inverted and reduced real images. The lens imaging model is applied to the camera. When the object distance is greater than or equal to 2 times the focal length, the image distance is within 1 times the focal length and 2 times the focal length. When the object distance i...

AI Technical Summary

Problems solved by technology

When the target is moving at high speed, it is difficult to calculate the matching of feature points in the traditional binocular ranging method

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