Research On Target Location And Distance Measurement Method Of Binocular Vision System Based On OpenCV

The main content of the papers research is to achieve the targets location and distance measurement based on binocular vision.This technology can help the photovoltaic panel cleaning robot to complete the location and distance measurement and then achieve the robots path planning function.Aiming at this technology,the paper has established a complete set of binocular stereo vision system from three aspects including camera calibration,feature matching,target location and distance measurement.The main tasks of this paper are as follows:In the aspect of camera calibration,the Zhang Zhengyou plane calibration method is used to calibrate monocular and then binocular calibration.In order to improve the accuracy of calibration,the accuracy of the corner coordinates extracted by Harris is subdivided to sub-pixel level.Experiments show that the calibration method has high calibration accuracy and can guarantee the accuracy of subsequent target location and distance measurement.In the aspect of feature matching,analyze and compare four classic feature point matching algorithms.Due to the high mismatch rate of the classic feature point matching algorithm,the accuracy of the following target location and distance measurement can not be guaranteed.So the paper improves the feature matching algorithm based on SURF.Experiments show that this method reduces the mismatch rate of images and shortens the matching time to fit real-time system applications.In the aspect of target location and distance measurement,the correct matching set is used to calculate the homography transformation model,and then the region of the target object is obtained in the left scene.Identify the central point of the area and find the center point that matches it in the right scene.Finally,according to the parallel binocular stereo vision model,the spatial position and depth information of the point are calculated.The experimental results show that the measurement accuracy is high within a certain distance.Finally,the paper develops the application program based on OpenCV2.4.9+VS2013 and achieve the functions of each module of the paper.The results of the measurement by the experimental distance measurement system show that the distance measurement results basically meet the expected requirements.The distance measurement result is accurate and reliable,which can provide a breakthrough in the accuracy of positioning and the cleaning efficiency of the robot for subsequent cleaning of the photovoltaic panel.