Research And Application Of The Key Technologies Of Binocular Parallax Measurement System

The binocular parallax ranging technology can get the distance parameter of the target by imitate the ways people use their eyes to observe the world around them, the main theory which is used in this ranging method is parallax theory. With the development in photoelectric devices,computer software and other technologies, binocular parallax ranging technology has been widely used in many fields, such as engineering practice and military confrontation.The work steps of the binocular parallax ranging system contain setting the parameters of the ranging system, calibrate the camera system and match the images of the target object. The main work of this dissertation is aimed to enhance the measurement range and the accuracy of the ranging system by research and improve the key technical points of the binocular parallax ranging system.First of all, the dissertation has achieved a fast, accurate method to extract the corners of the camera calibration plate by improve the original Harris corner detector, and achieved the accurate camera calibration parameters by lead radial and tangential distortion into an nonlinear camera model. Secondly, in the image matching part to get the parallax of the target, the paper has achieved the pixel-level best match point through applying the cross-correlation matching algorithm which based on the gray scale of the image, after surface fitting the relevant coordinates at the peak of surface, the paper has improved the accuracy of the matching point, and has achieved a sub-pixel level match point.Through studying and improving the key technical points of the ranging system, by choosing some appropriate hardware, the paper constructs a binocular parallax ranging system which measurement range is about 500 m, and the measurement error of the target distance in the physical environment is less than 5%. Further more, some factors which affect the measurement error are analyzed, and advice to improve the accuracy of the measurement system is given in the last part of the dissertation.