| Binocular stereo surveying technology is an important segment of ComputerVision and Photogrammetry. Targets’3D coordinates can be easily obtained by thisway. This thesis studies using binocular stereo method to survey the distance betweenpower lines and other objects, describes hardware, software and photogrammetrytheory of binocular stereo system. Next several points are designed for this binocularsystem:(1) Vertical base line changes the traditional X orientation to Y orientation ofbase line, it overcomes the disadvantages such as poor information of picture gray andtexture is too little. This kind of base line leads to less crossing points betweenepipolar ray and power lines which are used for matching.(2) This thesis designs the homologous center detected algorithm pointed toBlack-White target. The main idea: Set a threshold for the center image and get astable value which can be detected two lines with Hough Transform, then set thecrossing point of the two lines as center points. This algorithm can’t offer much highprecise, but easily comes true and correct location.(3) This thesis argues about relative orientation with quarternion to avoidcomplication and convergence problem in rotate matrix built by Euler angles, and setY orientation as the main one in relative orientation, then compare the resultscalculated by X orientation and Y orientation. At last, a conclusion comes out: verticalbase line should take Y orientation as the main orientation in relative orientation.This thesis calibrates cameras with the way DLT transforms and space resectionwhich can get the right parameter values.3D coordinates are calculated withintersection but calculates the equations’ parameters with relative orientation elementsinstead of exterior elements. The way is to set left image’s exterior elements as zero,and the right as relative orientation, so the distance is calculated in a precious stereomodel, the results shows the way is better than the exterior elements. |
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