Study On The Measurement Of Moving Object’s Trajectory Based On Stereo Vision

The stereo vision technology is an effective method of three-dimensional measurement. To solve the problem of difficult measurement for spatial motion trajectory, the dynamic measurement system of spatial motion trajectory is developed based on the technologies of stereo vision measurement, object detection and tracking. And the effective measurement of spatial motion trajectory is realized. To achieve the real-time performance of dynamic object measurement and the validity of feature points’ matching, the method of dynamic stereo vision measurement based on mark feature is studied. After that, the technical problems of the rapid detection and tracking, the effective matching and3D dynamic measurement are focused on.The static measurement system of stereo vision is developed.The mathematical transformation model between the planar coordinate system and the world coordinate system is established. With the camera calibration’s method of Zhengyou Zhang, the internal and external parameters are calibrated. The3D measurement of space object is realized, and the results of calibration are verified by the experiment.In order to improve the speed and quality of image processing, image preprocessing algorithms such as gray-scale transformation, image smoothing and so on are studied. An object’s tracking method is proposed based on dynamic search window and detection. With the above method, the system of moving object tracking and center point’s extraction is developed based on image sequences, which achieved the rapid tracking and accurate positioning of moving object.The measurement’s error of dynamic stereo vision system is analyzed. Under the laboratory conditions, the terminal trajectory of developed manipulator is effectively tracked and measured. The results of measurement are analyzed, and the correctness of the system is verified."National College Robot Contest" as the background, the trajectory of badminton is regarded as the object of study, which is effectively tracked and real-timely measured with dynamic measurement system. The practicability of the system is verified.