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A binocular vision ranging method and system using attitude angle estimation

A ranging method and binocular vision technology, applied in the field of binocular vision, can solve the problems of large imaging gap, poor object distance accuracy, inability to effectively match, etc., to achieve the effect of improving the effective range and improving the accuracy

Active Publication Date: 2020-09-01
FUZHOU UNIV
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Problems solved by technology

[0003] However, for a binocular camera with a large distance between two cameras to shoot a close object, due to the large imaging gap between the left and right cameras of the same object, the traditional block matching algorithm or feature matching algorithm cannot be used for effective matching. resulting in poor accuracy of object distances calculated by matching

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  • A binocular vision ranging method and system using attitude angle estimation
  • A binocular vision ranging method and system using attitude angle estimation

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Embodiment Construction

[0024] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0025] It should be pointed out that the following detailed description is exemplary and is intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0026] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combina...

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Abstract

The invention relates to a binocular vision ranging method and system utilizing attitude angle estimation. The method comprises the following steps: firstly, carrying out stereo calibration and stereocorrection on a binocular camera; secondly, collecting and remapping an image; thirdly, carrying out instance segmentation on the remapped image; fourthly, carrying out contour detection and contourmatching on an object obtained from instance segmentation; fifthly, estimating the attitude angle of the object obtained from instance segmentation; and finally, calculating the distance between the object and the binocular camera according to the estimated attitude angle and different contour areas in combination with the priori geometrical information of the object and the intrinsic parameters of the camera. According to the invention, the effective range of the binocular ranging system can be increased, and the accuracy of close-range object measurement can be improved.

Description

technical field [0001] The invention relates to the technical field of binocular vision, in particular to a binocular vision ranging method and system using attitude angle estimation. Background technique [0002] At present, the distance measurement system mostly adopts binocular stereo vision method for real-time stereo reconstruction and distance measurement. Among them, stereo matching is required for binocular images, and now block matching methods and feature matching methods are widely used for stereo matching. [0003] However, for a binocular camera with a large distance between two cameras to shoot a close object, due to the large imaging gap between the left and right cameras of the same object, the traditional block matching algorithm or feature matching algorithm cannot be used for effective matching. This leads to poor accuracy of object distances calculated by matching. Contents of the invention [0004] In view of this, the object of the present invention...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B11/02G06T7/11G06T7/13G06T7/80
CPCG01B11/02G01B11/026G06T7/11G06T7/13G06T7/85
Inventor 陈淡郑嘉芳黄艺凤
Owner FUZHOU UNIV
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