Moving Objects Tracking And 3D Measurement Based On Binocular Vision

The application of binocular vision techniques for tracking the moving object, and measuring its depth information and movement information is the hot research in computer vision, which used widely in civilian and military. Based on binocular vision, for the purpose to obtain the 3D coordinate, depth information and velocity of the object, this paper mainly discussed the following questions: moving object detecting and tracking, binocular stereo vision calibration, the construction of binocular stereo vision moving object tracking and measuring experimental system :On moving object detecting and tracking: it mainly researched the combination algorithm of the position-forecasting of moving object in the Mean Shift, using Bhattacharyya coefficients to forecast the occlusion. Then, the simulation is performed when the object is in Non-uniform linear motion and when occlusion happens, which achieved predicted results in running efficiency and tracking stability.On binocular stereo vision calibration: First, the calibrating board with circles target is made and the coordinate in image of feature Points in it are extracted. Left and right cameras are calibrated by using "TSAI" calibration algorithm. Second, the extraction algorithm of 3D coordinate of spatial points under binocular vision is discussed. Then, a binocular stereo vision calibration system is built by using VC++6.0 and the calibration experiment is carried on. Experimental results are validated by measuring the depth information and the size of spatial object.On construction of binocular stereo vision moving object tracking and measuring experimental system: First, the moving object under bi-side visions are matched by using cost function and the measurement of depth information and velocity are analyzed. Second, using VC++6.0, combined the parts discussed above and an experimental system for binocular stereo vision moving object tracking and measuring is designed. Then, the centroid of the moving object is extracted, and the depth information and velocity are measured by using the system.