基于双目相机的直线运动轨迹快速测量算法
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摘要
针对高速摄像条件下双目同步立体匹配存在困难的问题,提出了一种基于双目相机的空间直线运动轨迹快速测量算法。在建立了摄像机空间坐标系的基础上,基于小孔成像原理以及目标点与对应点的映射关系,构建了成像模型。对算法原理的实验验证表明,通过遍历点对组合并对其测量结果求平均值可减小误差,验证了原理的可行性与算法的有效性。
Aiming at the difficulty of binocular synchronous stereo matching under high-speed camera conditions,a fast measurement algorithm for the spatial linear motion trajectory based on binocular camera is proposed.The camera space coordinate system is established,and the imaging model is constructed based on the principle of small hole imaging and the mapping relationship between the target point and the corresponding point.The principle of the algorithm is verified experimentally,and the method of reducing the error by traversing the input points and finding the average value of the result is obtained.The feasibility of the principle and the effectiveness of the algorithm are verified.
Aiming at the difficulty of binocular synchronous stereo matching under high-speed camera conditions,a fast measurement algorithm for the spatial linear motion trajectory based on binocular camera is proposed.The camera space coordinate system is established,and the imaging model is constructed based on the principle of small hole imaging and the mapping relationship between the target point and the corresponding point.The principle of the algorithm is verified experimentally,and the method of reducing the error by traversing the input points and finding the average value of the result is obtained.The feasibility of the principle and the effectiveness of the algorithm are verified.
引文
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[4]Xiao J W,Qing X Y,Wan Q.Binocular vision measuring system based on OpenCV and Matlab[J].Information&Communications,2015,28(2):21-23.肖静文,青鑫月,万琦.基于Opencv与Matlab的双目测距系统研究[J].信息通信,2015,28(2):21-23.
[5]Di H Y,Shang Q,Wang S A.A virtual binocular vision range finding method of remote object based on single rotating angle indexing camera[C]//Proceedings of 2009 9th International Conference on Electronic Measurement&Instruments,2009:846-849.
[6]Lai X B,Wang H S,Xu Y H.A real-time range finding system with binocular stereo vision[J].International Journal of Advanced Robotic Systems,2012,9(1):1-9.
[7]Xiong J,Zhong S D,Liu Y,et al.Automatic threedimensional reconstruction based on four-view stereo vision using checkerboard pattern[J].Journal of Central South University,2017,24(5):1063-1072.
[8]Shen T,Liu W B,Wang J.Distance measurement system based on binocular stereo vision[J].Electronic Measurement Technology,2015,38(4):52-54.沈彤,刘文波,王京.基于双目立体视觉的目标测距系统[J].电子测量技术,2015,38(4):52-54.
[9]Hsu T S,Wang T C.An improvement stereo vision images processing for object distance measurement[J].International Journal of Automation and Smart Technology,2015,5(2):85-90.
[10]Yao H B,Weng J P,Cui H H,et al.Binocular stereo matching robust algorithm based on energy of marked points[J].Laser&Optoelectronics Progress,2016,53(2):021501.姚海滨,翁金平,崔海华,等.基于特征点能量的双目立体匹配稳健算法[J].激光与光电子学进展,2016,53(2):021501.
[11]Di H W,Chai Y,Li K.A fast binocular vision stereo matching algorithm[J].Acta Optica Sinica,2009,29(8):2180-2184.狄红卫,柴颖,李逵.一种快速双目视觉立体匹配算法[J].光学学报,2009,29(8):2180-2184.
[12]Zhang L J,Yang J H,Jiang Y T,et al.Research on target image matching algorithm for binocular CCDranging[J].Laser&Optoelectronics Progress,2014,51(9):091002.张丽娟,杨进华,姜雨彤,等.基于双目CCD测距的目标图像匹配算法研究[J].激光与光电子学进展,2014,51(9):091002.
[13]Milani S.Three-dimensional reconstruction from heterogeneous video devices with camera-in-view information[C]//Proceedings of 2015 IEEEInternational Conference on Image Processing,2015:2050-2054.
[14]Zhang J N,Pan W,Shi H B,et al.Threedimensional reconstruction method based on target recognition for binocular humanoid robot[C]//Proceedings of 2016 International Conference on Progress in Informatics and Computing,2016:355-359.
[15]Alonso J R,Fernández A,Ferrari J A.Reconstruction of perspective shifts and refocusing of a three-dimensional scene from a multi-focus image stack[J].Applied Optics,2016,55(9):2380-2386.
[16]Zhang P W,Zhang Z Q,Hu L,et al.Calibration error simulating analysis of binocular vision based on pinhole camera model[J].Electronics Optics&Control,2009,16(12):65-69.张鹏炜,张智诠,胡磊,等.基于针孔模型的双目视觉标定误差仿真分析[J].电光与控制,2009,16(12):65-69.
[17]Zhang Z.A flexible new technique for camera calibration[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,2000,22(11):1330-1334.