Study On Some Problems Of The Binocular Convergent Camera System

Binocular vision research is one of the most active branches of computer vision technology, including many research aspects such as camera calibration, image acquisition, feature extraction, stereo matching, depth measurement and depth information interpolation. Among these research aspects are the depth measurement and the construction of system structure parameters which are the core parts of the binocular vision research. Therefore, this thesis has taken these two aspects as the key research contents, mainly containing:Firstly, based on the dual CCD camera, the emphasis is stressed on the discussion of several coordinate systems in common use and the transition relations among them in this thesis.Secondly, in order to solve the problem of blind area resulting from a binocular parallel camera system, a mathematical model of binocular convergent camera system is proposed in this paper firstly. And then, by use of the corner detection method and constrain of epipolar line to extract and match corresponding points, a formula of computing the object depth for convergent binocular camera system is deduced based on this mathematical model. Finally, computer simulations are performed to demonstrate the validity of the model and the formula.Thirdly, based on binocular convergent camera system pattern, the relationship between measurement accuracy and construction parameters is analyzed systematically in theory in this paper. Focus is stressed on the effect of measurement error between the system baseline and the angle of the optical axis. Experiment is done to demonstrate the analysis conclusions.