Small binocular stereoscopic vision ranging system

Abstract

The invention provides a small binocular stereoscopic vision ranging system. The system comprises calibrating cameras (1), an image acquiring module (2), an image preprocessing module (3), a feature extracting module (4), an image stereoscopic matching module (5) and a three-dimensional rebuilding ranging module (6). The system is characterized in that the modules are sequentially connected; the two cameras are used for synchronously acquiring two images; the images are preprocessed to inhibit noise and highlight usable information; the preprocessing of the image includes the following steps: 1, performing grey processing on the images to reduce information contents of the images; 2, performing smoothing filtering on the images through a gaussian filter to remove the influence of noise on the experiment; 3, detecting the image contours through a canny edge detection operator so as to guarantee simple, convenient and clear angle point detection; 4, guaranteeing clear image features and removing small textures and noise by an algorithm of corrosion and expansion. According to the system, the images are preprocessed to verify the feasibility of binocular ranging.

Description

technical field [0001] The invention relates to a computer vision system, in particular to a binocular stereo vision ranging system. Background technique [0002] Vision is an ancient research topic. Human beings perceive the external world mainly through four sensory systems including vision, hearing, smell and touch. The most complex and important one is the visual system. More than 80% of the information people get from the outside world comes from the visual system. Therefore, vision is an important way for people to understand the world. With the development of computer technology, people are increasingly expecting to use computers to simulate the visual system of living things in order to achieve more practical functions. The two-dimensional digital image information obtained by computer analysis reproduces the three-dimensional information of objects in the real world. [0003] Binocular stereo vision is an important branch of computer vision, and binocular stereo v...

AI Technical Summary

Problems solved by technology

Active ranging must transmit a signal to the target object, and this signal is easy to be detected, so that the concealment of ranging cannot be achieved, and active ranging is often affected by the external environment, so the accuracy is often not very good ideal

Images