Three-dimensional Distance Determing And Positioning Based On Binocular Vision

In recent years, our country’s technology has improved continuously, capabilities andtechnology of the independently developed robot has been greatly enhanced. Robot as ameasure of one of the important symbol of a modern country with high-tech level, more andmore by the great importance of the government, research institutions and the businesscommunity. more and more new technologies and new features are set in the robot. Currently,researchers are very interested in the study of binocular vision, they developed new intelligentrobots which are equipped with this feature, because the binocular vision is very similar withthe principle of human visual perception mechanism. Clearly, the three-dimensional rangingand positioning based on the binocular vision is of great significance.This paper intends to focus on the use of the robot’s binocular vision to achievethree-dimensional target ranging and positioning, because the technology can help intelligentrobots to achieve three-dimensional positioning of the target object, thus achieving the robot’snavigation and grasping. we established a complete set of binocular stereo vision theoreticalsystem, discussed in detail the ranging and positioning technology of the binocular stereovision against demand for the technology. The basis of access to a large number of relevantresearch data, the paper discusses in detail and use of binocular stereo vision ranging andpositioning techniques, positioning experiments of binocular vision, and the in-depth analysisand comparison of experimental data.The specific steps of this paper are organized as follows: The first step will be building abinocular stereo vision system which includes a variety of hardware mechanical platform,this systerm will be installed on the robot platform. Hardware: The system will use binocularcameras, frame grabbers, computers (host and display), mobile intelligent robots and PTZ etc..The second step is the camera calibration. The main purpose of this step is to getthree-dimensional space, the object points to the correspondence between the pixels on thecamera imaging plane, that is related to some of the parameters and mapping. This step is thebasis of a few steps behind. The third step is image pre-processing. The purpose of the imagepreprocessing binocular camera image acquisition to have the stereo matching of imagefeatures. The fourth step, three-dimensional correction. This step is to make about the cameraoptical axis parallel to the imaging surface in the same plane. The fifth step,three-dimensional matching. Stereo matching to find the target objects in the binocularcamera shot in the left and right images corresponding points, find the corresponding point isto calculate the parallax, an important prerequisite for extracting depth information. The sixth step, the depth of information extraction. By this step, you can get the need to calculatethree-dimensional target point to the distance of the camera coordinate system. The seventhstep, three-dimensional reconstruction. This step is the final step, get the information of thespecific location of the required three-dimensional target object in three dimensional space isa prerequisite for robot grasping objects and functions.