A Real-time Ranging Method Based on Parallel Binocular Vision

被引：6
|
作者：
Xu, Huantai [1 ]
Liu, Xia [1 ]
Zhu, Chengfei [2 ]
Li, Shuxiao [2 ]
Chang, Hongxing [2 ]
机构：
[1] Harbin Univ Sci & Technol, Sch Automat, Harbin, Heilongjiang, Peoples R China
[2] Univ Chinese Acad Sci, Chinese Acad Sci, Inst Automat, Beijing, Peoples R China
来源：
2017 10TH INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE AND DESIGN (ISCID), VOL. 1 | 2017年
关键词：
Ranging; Radial distortion; Matching point; Real-time; Camera calibration; Three parameters model;
D O I：
10.1109/ISCID.2017.33
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
To address the problems that the ranging operation of binocular vision is complicated and the feature-matching difficult, this paper presents a real-time ranging method based on parallel binocular vision. Firstly, it is based on the single parameter Division Model to determine the distortion function of camera systems suffering from radial lens distortion. Secondly, the parameters of the parallel binocular cameras are calibrated with the proposed simple three parameters model. In the paper we propose that matching points are the centers of the circular marker in the left and right cameras, which are obtained by Adaptive Threshold Segmentation and Connected Component Analysis (CCA). Experimental results show that the algorithm only takes about 30 milliseconds and the ranging error could be controlled less than 5cm under the certain conditions. The results of experimental measurement on real data are presented and discussed.
引用
收藏
页码：183 / 187
页数：5
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