Research On Target Distance Measurement Technology Based On Binocular Stereo Vision

Binocular vision technology is an indispensable part of the field of computer vision.It is formed by the fusion of multiple disciplines.The key content of binocular vision technology is to use the binocular camera to obtain the left and right two-dimensional images of the target,and to get the spatial position information of the target from the left and right two-dimensional images.The basic theory of binocular vision technology is to obtain the pixel difference between the same target in two images according to the principle of triangulation,and finally calculate the spatial location information of the target.This thesis focuses on the target distance measurement under binocular vision technology.The key contents include binocular camera calibration,stereo matching,and binocular distance measurement.First of all,the thesis started from the basic part to explain the imaging mechanism of the camera,introduced the coordinate system needed in binocular vision and gave the principle of parallel binocular camera distance measurement.Secondly,the common camera calibration methods are described,the advantages and disadvantages of various calibration methods are introduced,and the Zhang Zhengyou calibration method used in this thesis is introduced.This calibration method uses a binocular camera to capture the calibration material on the checkerboard calibration board,and uses the calibration toolbox provided by Matlab to complete the camera calibration and to obtain the camera's internal and external parameters.Thirdly,the SURF feature matching,PCA edge feature matching,and structure tensor feature matching experiments were performed on the images collected by the parallel binocular camera respectively,and obtain the standarddisparity of the left and right images.The accuracy of the three feature matching methods was compared according to the standard disparity,and then measure the depth distance of the target according to the disparity value.Finally,aiming at the shortcoming that parallel binocular camera distance measurement result only has a high accuracy for the close range target,a convergent binocular camera distance measurement method is proposed.This method can measure the real distance from the target point to the left camera.The measured results are compared with the experimental results of a parallel camera,which fully demonstrates the practicality of the proposed distance measurement method.