Design Of Laser Scanning Binocular Stereo Vision Imaging System And Target Measurement

In order to improve the recognition speed and accuracy of pedestrian and vehicle in front of unmanned vehicle,a laser scanning binocular stereo vision imaging method is proposed.Aiming at the shortcomings of the existing matching methods,such as weak anti-interference ability,unable to identify the distance quickly and efficiently between objects,and too large error,a strong feature point matching method based on laser line is proposed.This method simulates human eyes to observe the environment in front of the vehicle.A binocular stereo imaging system is constructed by using laser scanning module and binocular vision structure;The laser line scanned on the object is used as the strong feature clues of the left and right views for binocular visual matching,to measure and perceive the depth of the object.In this paper,Zhang Zhengyou camera calibration method is selected for stereo calibration of the camera to obtain the parameters of the binocular vision imaging system.After stereo correction of the left and right camera images,the laser line scanning light is used as the strong feature of pixel matching for binocular camera matching.Compared with the binocular matching of passive vision,this method can achieve fast matching ranging and has high accuracy.After obtaining the binocular parallax of feature points through active binocular vision,the three-dimensional point cloud data of the front object can be calculated and obtained according to the binocular vision theory.Firstly,the influence of the parameters of the laser scanning binocular vision imaging system on the accuracy of object depth measurement is discussed in the indoor environment;Then,the system parameters with the highest accuracy are selected to carry out the three-dimensional reconstruction experiment of the actual target object in the indoor environment;Finally,the experiment is carried out in the outdoor environment.At present,the red spectrum laser used in the system can effectively reconstruct the target surface radian.However,due to the outdoor light intensity,in the case of good light in the daytime,the detection of the target is limited and has certain limitations.Under the condition of dark illumination,the relative error of measuring step depth is about 1.9%,and the relative error of step spacing is about 0.5%.Adjust the hardware configuration and use visible laser to conduct experiments indoors and outdoors respectively.The combination of infrared band laser and filter improves the adaptability to outdoor light intensity,reduces the relative error rate to 0.4%,and improves the limitation of target detection distance under the same conditions.The research and experiments show that the laser scanning binocular vision imaging system proposed in this paper has the function of forward target ranging.Due to the advantages of laser line intensity feature matching,it can speed up the binocular matching speed and has the potential to be applied in unmanned system.