Research And Application Of Infrared Binocular Distance Measurement Technology

Binocular distance measurement technology is an important research branch of computer vision field and it has been a hot topic for the researchers. In the important area of target detection and localization of mobile robot navigation stereo vision, industrial robot hand-eye system, ranging technology is one of the most critical technologies which provides important decision information. At present the most commonly used method is visible binocular distance measurement and the image is easy to process in the condition of good lighting. But the measuring method needs high requirement for light. It is unable to process the image in the light of adverse circumstances(especially at night).According to the above problems, this paper puts forward the binocular distance measurement scheme based on infrared image. The scheme combines infrared technology and the binocular distance measurement technology, to implement distance measurement in the case of insufficient light and no auxiliary light. The paper focuses on the active infrared imaging, and analyzes the characteristics of active infrared imaging, according to the characteristics of the image, combines the retina cortex algorithm(Retinex) and contrast limited adaptive histogram equalization(CLAHE) algorithm, in order to enhance infrared image, and improve image quality, so as to facilitate further target detection. Histogram of oriented gradient(HOG) and support vector machine(SVM) are used to complete the infrared image targets detection under complicated background, and to detect the target partition as a template, in order to template matching with another picture, and realize the aims of two image matching. From single objective matching extension to multi target matching, so as to calculate the parallax of the target matching, according to the principle of distance measurement, the target distance is calculated from parallax.Finally, applying infrared binocular distance measurement technology on fruit ranging, to realize the detection and ranging of the fruit at night, doing foundation for further picking. After the test, obtaining the effective ranging results, which verifies the validity of the method. And expand the application of infrared binocular distance measurement technology, not only can be used for real-time detection of the width of the road, also can be used for the safety of the smart car to drive.