Design Of Tear Bomb Intelligent Casting System Based On Binocular Stereo Vision

Armored vehicles are widely used in CAPF and they play an important role in dealing with the emergencies. The tear bomb emission systems of armored vehicles are of vital importance to break up the crowd. However, because of the influence of the complicated environment and some wrong manual operations, we often can't aim at the target accurately.To solve these problems, the intelligent emission system of the tear bomb emitter based on binocular stereo vision has been designed for the armored vehicle. By computing the launching angle, the tear bombs can hit the target accurately, and hence our designed systems are with the capabilities of automatic recognition and accurate localization. The main work and research results are as follows:Firstly, the basic principle of binocular stereo vision is introduced and the relationship of three important reference frames is analyzed. Based on the linear or nonlinear model, the derivative and the relationship between each parameter are further investigated. The camera calibration experiments are carried out by using the camera calibration toolbox and the camera parameters are derived.Secondly, the comparison between the one frame difference method and quadratic difference method is carried out, and a new algorithm based on integrating temporal information with spatial information has been proposed. The moving regions are firstly obtained by the intersection of three frame difference images, and then the moving objects are extracted by setting gray level threshold to eliminate the noise. At last, the whole moving targets can be obtained by filling procession. Its good performance of extracting the moving targets in complicated environment has been verified by experiments.Thirdly, the methods of stereo matching are investigated and the parallax calculation of binocular stereo vision is accomplished. The algorithms of stereo matching and parallax calculation are verified by the real image data and the distance information of target is derived by camera calibration.Fourthly, the intelligent tear bomb emission systems based on binocular stereo vision principle is designed. The seven main parts of this system including the image capture, camera calibration, target extraction, stereo matching, depth calculation, error analysis and elevation angle calculation are introduced. By using our designed system, the target crowd can be located accurately, and hence the accuracy of the tear bombs can be improved. Finally, the performance of emission systems has been analyzed. Besides, the working processing flow and error model has been established. The experimental results show that the distance measure error of our system can be below 2% which reveals that our designed system can improve the capability of current equipment.