摘要
针对双目测距技术在远距离测距应用中存在误差较大的问题,提出了一种基于透视变换的远距离双目测距方法。首先使用标定所得的相机内外参数对存在畸变的图像进行立体校准,使用模板匹配的方法得到四对特征点的世界坐标以及所选基线的距离,然后利用所得特征点的世界坐标,通过透视变换以及三角测量的方法计算目标物体与相机之间的距离。实验结果表明,当待测物体距离相机10 m甚至更远时,采用传统的双目测距方法测量误差较大甚至无法测量,而采用所提出的透视变换的方法,测量物体距离相机达到45 m时测量误差仍能够保证在5%左右,准确度较高。因此该方法能够有效地解决双目测距技术在远距离测距应用中误差较大的问题,有一定的实用性。
Aiming at the large error of binocular ranging technology in long-distance ranging applications,this paper proposes a long-distance binocular ranging method based on perspective transformation.First,use the internal and external parameters of the camera to perform stereo calibration on the distorted image,use the template matching method to obtain the world coordinates of the four pairs of feature points and the distance of the selected baseline,and then use the world coordinates of the obtained feature points through perspective transformation and The method of triangulation calculates the distance between the target object and the camera.The experimental results show that when the object to be measured is 10 m or more away from the camera,the traditional binocular distance measurement method has a large measurement error or even cannot be measured.However,the perspective transformation method proposed in this paper is used to measure when the object is 45 m away from the camera.The error can still be guaranteed to be around 5%,and the accuracy is high.Therefore,this method can effectively solve the problem of large errors in the long-distance ranging application of the binocular ranging technology,and has certain practicability.
作者
李一航
周东兴
韩东升
Li Yihang;Zhou Dongxing;Han Dongsheng(Shenzhen Power Supply Planning Design Institute Co.,Ltd.,Shenzhen 518000,China;Department of Electronic and Communication Engineering,North China Electric Power University,Baoding 071000,China)
出处
《电子测量技术》
北大核心
2021年第7期93-99,共7页
Electronic Measurement Technology
基金
国家自然科学基金(61771195)项目资助
关键词
双目测距
远距离测距
立体校准
模板匹配
透视变换
binocular ranging
long-distance ranging
stereo calibration
template matching
perspective transformation
