Binocular stereo vision system and depth measuring method

Abstract

The invention belongs to the technical field of 3D sensing measurement, and provides a binocular stereo vision system and a depth measuring method. The depth measuring method used for the binocular stereo vision system comprises the steps that a synchronous trigger signal is generated and sent to a left image collection unit and a right image collection unit; FPGA running water and concurrent design is adopted, pixel points output by the left image collection unit and the right image collection unit are subjected to distortion and stereo correction processing, the optical parallax of pixel points which correspond to and are matched with a left image and a right image are obtained after stereo matching, and finally the real physical depth corresponding to the pixel points is obtained according to the optical parallax. According to the binocular stereo vision system and the depth measuring method, an FPGA platform is selected, the integration level is high, the processing speed is high, the real-time requirement is met, and the binocular stereo vision technology is brought to the commercial level.

Description

technical field [0001] The invention relates to the technical field of 3D sensing measurement, in particular to a binocular stereo vision system and a depth measurement method. Background technique [0002] Binocular stereo vision is an important branch of computer vision, that is, two or one camera (CCD / CMOS) in different positions are moved or rotated to shoot the same scene, and by calculating the parallax of the spatial point in the two images, the obtained The 3D coordinate value of the point. Measurement methods are currently mainly divided into active 3D measurement and passive 3D measurement. [0003] At present, the main principle of active 3D measurement is to emit structured coded light through the optical system, and obtain the three-dimensional structure through decoding through imaging. Another kind of TOF mainly measures the distance by measuring the phase difference between the sent beam and the returned beam. The main application scenario of active 3D meas...

AI Technical Summary

Problems solved by technology

[0004] The research on binocular stereo vision has been done for many years. Many algorithms have been proposed by the academic community, and good results have been achieved. However, the biggest problem at present is that there is no good platform that can carry the real-time computing requirements of the algorithm. , usually the algorithm that can achieve better results has a larger amount of calculation

The main reason for adopting the above scheme is that the algorithm complexity involved in passive binocular stereo vision is very high, so a very powerful computing unit is required

The selection of the above computing systems has the following disadvantages: high cost, difficulty in miniaturization, limited real-time performance due to the dynamic load of the computing unit, and it is difficult to ensure consistent real-time performance

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