Real-time high-precision binocular ranging system and method based on pedestrian tracking
A binocular ranging and pedestrian tracking technology, applied in image data processing, instrument, character and pattern recognition, etc., can solve the problems of not being able to meet real-time and accuracy at the same time, and not being able to mass-produce, to avoid repetitive calculations, meet the The effect of real-time requirements
Active Publication Date: 2020-02-07
西安咏圣达电子科技有限公司
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[0008] To sum up, the problems existing in the existing technology are: the current hardware and software solutions for pedestrian tracking and ranging based on embedded development boards, for consumer-grade embedded development boards, because they cannot meet the requirements of real-time and precision at the same time and cannot be mass-produced
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[0033] In order to further understand the content, features and effects of the present invention, the following examples are given, and detailed descriptions are given below with reference to the accompanying drawings.
[0034] Aiming at the problems existing in the prior art, the present invention provides a real-time high-precision binocular ranging system based on pedestrian tracking. figure 1 The present invention is described in detail.
[0035] Such as figure 1 As shown, the real-time high-precision binocular ranging system based on pedestrian tracking provided by the embodiment of the present invention includes:
[0036] The prediction unit 1 is used to save the target area of the previous frame of pedestrians as the pre-calculated area of the next frame SGBM algorithm;
[0037] The SGBM calculation unit 2 calculates the disparity matrix of the area predicted by the previous frame with the SGBM algorithm;
[0038] BM calculation unit 3, using BM algorithm to calc...
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The invention belongs to the technical field of distance measuring devices, and discloses a real-time high-precision binocular distance measuring system and method based on pedestrian tracking, and the system comprises a prediction unit which stores a target region of a previous frame of a pedestrian as a pre-calculation region of an SGBM algorithm of a next frame; an SGBM calculation unit which is used for calculating a parallax matrix of the predicted area of the previous frame by using an SGBM algorithm; a BM calculation unit which is used for calculating a parallax matrix of the whole image by using a BM algorithm; and a logic judgment unit which is used for judging whether the result of the SGBM or the BM is adopted, and averaging all distance values in the interest point list. According to the method, the tracking area is predicted, the BM and the SGBM are structurally fused, and only the depth value of the pedestrian part is calculated, so that the embedded real-time requirementcan be met, and meanwhile, the high-precision characteristic is reserved. For the condition of few misses, the result of the BM algorithm which is completed through parallel calculation is directly adopted, and repetitive calculation is completely avoided.
Description
technical field [0001] The invention belongs to the technical field of ranging devices, and in particular relates to a real-time high-precision binocular ranging system and method based on pedestrian tracking. Background technique [0002] At present, the commonly used visual distance measurement technologies in the industry mainly include monocular distance measurement and binocular distance measurement. [0003] (1) Monocular distance measurement needs to be calibrated in advance to establish the relationship between image coordinates and world coordinates, and then use the point coordinate position of the object in the image to calculate the distance between the object and the camera according to the calculated mapping relationship. After the calibration is completed, the camera should remain fixed and cannot be moved. The restriction is relatively large, and the error will be relatively large in places far away from the calibration cloth. [0004] (2) Binocular ranging ...
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IPC IPC(8): G06T7/55G06T7/80G06T7/292G06K9/62
CPCG06T7/55G06T7/80G06T7/292G06F18/22Y02T10/40
Inventor 高圣哲赵恒星
Owner 西安咏圣达电子科技有限公司