Active real-time three-dimensional positioning system based on binocular vision and laser distance detection

Abstract

The 3D active real-time positioning system based on binocular vision and laser ranging consists of three parts of vision processing subsystem, control subsystem and mechanical mechanism. The target image the video camera under the control of image acquisition card obtains is processed in the vision processing computer to obtain the 2D position information in image coordinate sent to the public memory area. Then, the control computer obtains the position information from the public memory area, performs coordinate conversion and real-time programming, outputs via D / A converter board to the driver to drive the motor and controls the laser via the angle encoder feedback loop to irradiate the target accurately. Finally, the depth information the range finder measures is fed back to the vision computer to obtain the 3D position information of the target. The system has the advantages of high distance precision, high activity, high real-time performance, low cost, etc.

Description

Technical field: [0001] The invention is an active real-time three-dimensional position information acquisition system based on binocular vision and laser ranging, which belongs to the field of image processing and automation, and is used for quickly and accurately obtaining three-dimensional position information of objects. Background technique: [0002] At present, the use of binocular stereo vision is the main means to obtain the three-dimensional position information of the target. The commonly used method is to obtain a stereo image pair synchronously by two cameras, and then calculate the depth information of each point in the public field of view of the image according to the principle of stereo vision, generate a depth map, and then extract the depth information corresponding to the target to determine the target’s depth. 3D position information. But these devices all have the following problems: [0003] 1. Low long-distance accuracy: The previously studied binocu...

AI Technical Summary

Problems solved by technology

[0003] 1. Low long-distance accuracy: The previously studied binocular and multi-eye stereo vision has relatively high accuracy (above 1 mm) when measuring short-distance targets (within 5 meters), and the accuracy is very low at longer distances (beyond 5 meters). poor or even measurable

[0004] 2. Poor initiative: When the spatial three-dimensional scene is projected into a two-dimensional image in the camera, the images of the same scene at different viewpoints will be very different, and many factors in the scene, such as lighting conditions, scene geometry and physical characteristics, noise interference and distortion, and camera characteristics, etc., are integrated into a single image gray value

therefore, many calculations are unnecessary and the ability to actively select targets is lacking

[0005] 3. Large amount of calculation and poor real-time performance: Stereo vision requires the ability to solve each corresponding point in a pair of stereo images. The rich information contained in the image makes the speed of point-by-point correspondence matching very slow, and it is prone to "sick" calculation problems

Although in order to solve this problem, certain constraints are added under the regularization framework to transform the problem into the optimal solution of multiple conditional functions, but the difficulty and amount of calculation are greatly increased, making it difficult to improve the speed of visual processing and unable to meet real-time performance. requirements, limiting the field of application

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