Ranging system and ranging method based on low-light binocular camera

Abstract

In order to meeting the requirement of binocular distance-measurement at night, the invention provides a distance-measuring system and a distance-measuring method based on a shimmer binocular camera.Considering the defect of low signal noise ratio of shimmer images, the distance-measuring method comprises the following steps: performing pretreatment to reduce image noise, fully utilizing the color and texture information of global image in a feature matching and optimizing process, reducing the error matching effect caused by the local noise; combining the calculation result of the Census descriptor and color feature with a semi-global matching optimization algorithm, the robustness of feature extraction and the accuracy of feature matching are enhanced. The distance-measuring system andthe distance-measuring method have night shimmer distance-measuring ability at night and can realize the night accurate distance-measurement.

Description

technical field [0001] The invention belongs to the technical field of binocular ranging, and relates to a ranging system and a ranging method based on a low-light binocular camera. The present invention can be used in various occasions that need to measure the distance of an object in a dark environment, such as nighttime environment perception of unmanned vehicles, on-site scanning and reconstruction of underground cultural relics in archaeological work, warehouse and nighttime video surveillance, etc. Background technique [0002] Binocular camera is a device based on the principle of binocular parallax, which can calculate the three-dimensional space position of the object captured by the binocular camera relative to the camera. It has been widely used in production line inspection, vehicle braking safety, unmanned driving, and three-dimensional scanning. and other fields. [0003] In the process of binocular ranging, obtaining high-quality and clear images is very impo...

AI Technical Summary

Problems solved by technology

[0005] In order to meet the needs of binocular distance measurement at night and solve the imaging problem of the existing binocular distance measurement system under weak lighting conditions such as night and underground, the present invention provides a distance measurement system and distance measurement system based on a low-light binocular camera. In this method, considering the low signal-to-noise ratio of low-light images, the image noise is reduced through preprocessing, and the global color and texture information of the image is fully utilized in the process of feature matching and optimization, which weakens the influence of false matching caused by local noise, and can Accurate ranging at night

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