The invention relates to a method for detecting vehicle motion information based on integration of binocular stereoscopic vision and
optical flow, and the method comprises the following steps of: analyzing and
processing left and right image sequences taken by a binocular stereoscopic camera, and acquiring motion information of the three-dimensional
space velocity and angle velocity of the car body through
feature matching, three-dimensional reconstruction,
feature extraction and
optical flow estimation, in order to estimate motion information of the car body. As a new method for detecting car motion parameters, it is simply installed, applied to the actual
operating environment of the car, high in precision and strong in real time. By the method, inaccurate reading numbers and measuring errors occurred by environmental factors can be effectively reduced, and the visual sensor has the advantages of simple structure and much information and can provide a
mass of other information. The
system selects ground points as interested feature points to effectively reduce interference of the motion object and improve
estimation precision. At the same time, by the method, steadiness and robustness of the
algorithm can be enhanced by fully utilizing depth information.