Roadside Rockfall Projection Area Measurement System Based On Parallel Binocular Vision

The terrain in western China is complex,and it is prone to rockfalls on roadside slopes,which leads to encroachment on roads and traffic congestion.In order to ensure the smoothness of traffic,it is necessary to assess the extent of road infringement in a timely manner and report to relevant departments.In this paper,a set of slope falling rock projection area measurement system based on parallel binocular vision is proposed.The scheme uses the projected area calculation method based on the parallax map to make non-contact measurement of the rockfall projection area of the slope.At the same time,this paper develops a set of hardware system for measuring the rockfall projection area of road slope based on parallel binocular vision.According to the measured area of rockfall projection,the degree of damage to the road can be evaluated.The main contents of this paper are as follows:(1)Firstly,the binocular camera is calibrated,and the image correction and SGBM stereo matching are completed according to the acquired internal and external parameters of the camera,so that a relatively complete disparity map with high precision is obtained,which lays a foundation for subsequent area calculation.(2)The projection area calculation method based on disparity map segmentation is proposed to realize the calculation of the projected area of the road slope.The experiment proves that the algorithm can obtain a more accurate projection area of the rockfall of the slope,indicating that the test accuracy meets the engineering requirements and is suitable for the slope environment.(3)A roadside rockfall projection area measurement system based on parallel binocular vision was developed,including hardware system and software architecture.The projected area calculation experiment was carried out in multiple scenes of indoor environment and rockfall environment.The experiment proves that the test accuracy of the system meets the requirements.The system realizes the measurement of the rockfall projection area of the road slope,and thus evaluates the degree of road damage,which has certain engineering significance.