Research On Three-Dimensional Image Construction Of Stairs Based On Binocular Vision

Binocular stereo vision has the advantages of low cost,low power consumption,high efficiency,and is widely used in military equipment,virtual reality,medical assistance,investigation rescue and so on.Stairs are common building structures in modern architecture.For robots that move in modern buildings,stairs are the architectural structures that must be conquered.This article chooses binocular stereo vision to construct the three-dimensional image of stairs.First,the advantages and disadvantages of global and local algorithms in stereo matching were studied.Combining with the actual situation of the staircase image,the global algorithm was regarded as the research focus,and the technical route of this thesis was proposed.Secondly,a set of binocular camera system was built and calibrated.The binocular camera was calibrated using Zhang Zheng you calibration method.The internal and external parameters of the camera and the position parameters between the two cameras were obtained,prepared for late stereo matching and 3D construction.Then,for the pixels around the pixels to be matched cannot be fully and reasonably used which cause mis-match at the weak texture areas in the Semi-Global Stereo Matching Algorithm,this thesis integrated the Minimum Spanning Tree structure into the semi-global stereo matching algorithm and made each pixel provides a reasonable support weight for the pixels to be matched,thereby improving stereo matching accuracy.Used three pairs of standard images provided by the Middlebury database to compare the mis-match rates of the classical algorithm and the improved algorithm of this thesis,the comparison results show that compared with the classical semi-global stereo matching algorithm,the improved algorithm can reduce the mis-match rate of Cones image by 0.33%,Teddy image by 2.21%and Tsukuba image by 3.66%.The matching accuracy of the proposed stereo matching algorithm has been improved.Finally,the disparity was extracted using the improved algorithm,the three-dimensional coordinates of each pixel of the staircase image and the depth map were calculated according to the disparity.Staircase's length,width and height data also be calculated,the predetermined target of building the three-dimensional image of the staircase was achieved,the goal of building a three-dimensional image of a staircase was achieved.