The invention provides a vision-based auxiliary-mark-free port machinery equipment movement
distance detection method and
system, and relates to the field of computers.The method comprises the steps that
monocular cameras are installed on lifting appliances on the two sides of a
gantry crane, the
gantry crane is controlled to move along a preset track, and a calibration
image sequence containing ground linear features is obtained; a radial
distortion parameter of the camera is calculated, a nonlinear mapping model from a pixel coordinate
system to a world coordinate
system is established, a ground unshielded area is selected as a
dynamic monitoring area, and a texture richness thermodynamic diagram is generated; after receiving a measurement instruction of a
scheduling system, initializing an
optical flow accumulator, loading a current feature
point set, synchronously collecting
monocular video streams, and distributing the
monocular video streams to at least three preprocessing threads to execute differential
image enhancement;
optical flow calculation is executed on all preprocessing results in parallel, a multi-mode
optical flow vector field is generated, and three-level optical flow screening is implemented. The precision and the sensitivity of small-range
movement measurement of the
gantry crane are improved through an optical flow method, and the influence of environmental factors on a measurement result is reduced.