Research Of Binocular Stereo Vision Technology Based On Single Camera

Most robots in the binocular stereo vision technology based on the use of the camera as a sensor to sense its surroundings. But at the same time using two cameras in the water, along with supporting brackets, cables and other equipment, the volume remained the too large. This underwater robot in terms of the static work, the difficulty is still not carry small.Purpose of the proposed transfer of single binocular stereo vision technology, is using a video camera and mirror symmetry combination of the two groups to achieve the function of binocular stereo vision. The contents of this paper, static underwater robot can meet the job done with a camera the task requires two cameras; but also has been used for more mature binocular stereo vision technology to recover the scene of three-dimensional information; also reduces the Volume of the measurement system to improve measurement speed and reduce the cost.First, the paper studies the camera pinhole imaging model (linear imaging model), camera calibration method for nonlinear imaging model, this paper points out the two-step calibration of the concrete steps. In the image matching process compares the advantages and disadvantages of three common methods are given in the selection of this topic matching method - the regional match.Second, in a single stereo vision research, given the single camera stereo vision system and dual-set principle, the corresponding mathematical model, and conducted a single-purpose transfer parameters of binocular stereo vision system design and analysis of monocular Binocular transfer methods can be feasible, given the improved method, that is, the original pinhole camera model, based on the static underwater robots used to work for large field of mathematical imaging model, combined with the mathematical formula of calculation Meet the requirements of this project.Finally, experimental platform to build on the measured three-dimensional reconstruction image shows the resulting image, the image is consistent with the original image.