Binocular stereoscopic vision based distance measuring method and distance measuring system

Abstract

An embodiment of the application discloses a binocular stereoscopic vision based distance measuring method and a distance measuring system. The method comprises the following steps of obtaining an original reference image and an original target image; correcting the original reference image and the original target image according to a camera parameter to obtain corresponding corrected reference image and corrected target image; carrying out matching cost calculation on the corrected reference image and the corrected target image to obtain a matching cost between each pixel point in the corrected reference image and a corresponding point in the corrected target image, wherein the matching cost comprises a characteristic matching cost and a divergence matching cost; carrying out cost aggregation on the matching cost to obtain a corresponding cumulative cost; and calculating a parallax value corresponding to each pixel point in the corrected reference image according to the cumulative cost, so as to complete distance measurement. The distance measuring method has quite good distance measuring accuracy no matter being used for carrying out short-distance distance measurement or long-distance distance measurement; and an effective measurement range and the distance measuring accuracy of the distance measuring system applying the method are improved.

Description

technical field [0001] The present application relates to the technical field of distance measurement, in particular to a distance measurement method and a distance measurement system based on binocular stereo vision. Background technique [0002] With the improvement of people's living standards and the rapid development of modern science and technology, unmanned driving has become a new market demand and has gradually entered people's lives. The distance measurement system is an important part of the driverless system, which can provide information about the environment around the vehicle. Therefore, the real-time performance, stability, accuracy and range of the ranging system directly determine the safety and reliability of the unmanned driving system. [0003] At present, the ranging system mostly adopts binocular stereo vision (English full name: Binocular Stereo Vision) method for real-time stereoscopic reconstruction and ranging. Among them, the active light binocu...

AI Technical Summary

Problems solved by technology

Among them, the active light binocular stereo vision method mainly uses active light sources, such as laser emitters, to generate light spots in the scene to be tested and combine some feature matching algorithms to measure the distance, although the active light binocular stereo vision method can Greatly improve the accuracy and stability of the ranging system, however, due to the low power of the laser transmitter used, the projected laser can only form a spot in a close-range scene

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