Self-adaptive fast-matching binocular ranging method

Abstract

The invention discloses a self-adaptive fast-matching binocular ranging method. The method comprises the following steps that firstly, a binocular camera is used for acquiring a binocular image of a target to be detected; secondly, a template image and a search image are captured from the binocular image in a self-adaptive mode; then the template image is quickly matched in the search image by a layered screening strategy to obtain the pixel-level matching coordinates; and then the pixel points in the region surrounding the pixel-level matching coordinate are used as fitting points, secondarycurved surface fitting is carried out on the fitting points, the maximum value of the curve fitting function is worked out so as to obtain sub-pixel-level matching coordinates corresponding to the pixel-level matching coordinates; and finally a parallax is obtained according to the sub-pixel level matching coordinates and the template image coordinates, then the distance of the target to be measured is worked out according to a triangulation method, and ranging is completed. According to the method, the template image is extracted in a self-adaptive mode, the search image boundary is limited and search range range is optimized, the layered screening strategy is adopted for improving the searching efficiency and the like, so that the image matching precision is improved, and then the ranging precision is improved.

Description

technical field [0001] The invention belongs to the technical field of long-distance passive distance measurement, in particular to an adaptive fast matching binocular distance measurement method. Background technique [0002] Most of the existing reconnaissance and indication systems use laser ranging. Laser ranging is an active ranging method that requires active laser emission. The pulse method commonly used in long-distance ranging is to measure the propagation time from laser emission to reception to determine the distance of the target. . The fatal disadvantage of this active ranging method is that it is poorly concealed and easily exposed. Although lasers with wavelengths invisible to the human eye can be used, the opponent can still detect and counteract them through photodetectors. [0003] The passive ranging method is to analyze and determine the distance of the object by detecting the optical radiation of the object itself. The advantage is that it has good conc...

AI Technical Summary

Problems solved by technology

In practical applications, many existing image matching algorithms have the following problems: the matching efficiency needs to be improved to meet the real-time performance of the system; the matching results are greatly affected by changes in the environment, lighting, etc. ; interfered by complex background, etc.

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