Research On Monocular Vision Ranging And Height Model Of Intelligent Robot Based On Pinhole Imaging

The combination of monocular vision and intelligent robot makes the position perception of intelligent robot environment based on monocular vision become the current research hotspot.Aiming at the problems of less research on height measurement when the camera has inclination angle,inaccuracy of monocular camera height measurement model and less research on Influencing Factors of height measurement accuracy,this paper proposes a monocular camera height measurement model and corresponding algorithm of intelligent devices such as intelligent robot based on monocular vision principle.This thesis has carried out the following research work:1.oposes the altimetry model and corresponding algorithm of monocular camera for intelligent devices such as intelligent robots based on the principle of monocular vision.Establishes the geometric spatial relationship between the measured object point and the camera imaging system.Then deduces the distance measurement formula of monocular camera according to the space geometry principle.Finally,according to the known internal parameters of the monocular camera and the distance from the camera to the measured point,the altimetry formula of the monocular camera is deduced and the theoretical model of the monocular camera altimetry is established.2.erifies the feasibility of the altimetry formula derived from the principle of space geometry and calculates the accuracy of altimetry and study the error influencing factors.Proposes an improved altimetry scheme for monocular camera and verifies the accuracy of the improved scheme though the improvement experiment.3.ummarizes the experimental flow of the improved experiment and carries out the outdoor experiment of the improved experiment.The experimental results show that the accuracy of measurement is more than 82% when the external parameters such as camera angle are not extracted;under the condition of reading the camera angle and other parameters,the accuracy rate of the ranging model is more than 98.7%;the accuracy rate of the height measurement model is more than 96% in the room;the accuracy of the altimetry model in the outdoor area is above 96%.